TWI663495B - Mobile robot system and control method thereof - Google Patents
Mobile robot system and control method thereof Download PDFInfo
- Publication number
- TWI663495B TWI663495B TW107101901A TW107101901A TWI663495B TW I663495 B TWI663495 B TW I663495B TW 107101901 A TW107101901 A TW 107101901A TW 107101901 A TW107101901 A TW 107101901A TW I663495 B TWI663495 B TW I663495B
- Authority
- TW
- Taiwan
- Prior art keywords
- virtual wall
- map
- mobile robot
- area
- obstacle
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000004140 cleaning Methods 0.000 claims abstract description 108
- 230000004044 response Effects 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 18
- 230000003670 easy-to-clean Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 31
- 230000008569 process Effects 0.000 description 20
- 230000008859 change Effects 0.000 description 18
- 239000000428 dust Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000013459 approach Methods 0.000 description 7
- 238000009826 distribution Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 239000000470 constituent Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000003628 erosive effect Effects 0.000 description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001678 irradiating effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 229920001690 polydopamine Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002187 spin decoupling employing ultra-broadband-inversion sequences generated via simulated annealing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0003—Home robots, i.e. small robots for domestic use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
一種移動式機器人系統及其控制方法，將虛擬牆設定為特定區域，使得移動式機器人無法接近清潔區域內以限制該移動式機器人的行進；當終端設備設定用於限制移動式機器人接近的虛擬牆時，將虛擬牆記錄在地圖上；計算清潔區的虛擬牆的位置以避開虛擬牆；以及透過將虛擬牆與清潔區域相匹配限制移動式機器人的接近，透過經由終端設備在地圖上設定虛擬牆並且與實際清潔區匹配控制移動式機器人，如同存在實際的物理性障礙物，且實現易於清潔的設定，並且可以有效地控制移動機器人，因為它可以多個地設定在期望的位置，且不論數量多寡。 A mobile robot system and a control method thereof. A virtual wall is set to a specific area so that the mobile robot cannot access the clean area to restrict the movement of the mobile robot. When a terminal device is set to limit the access of the mobile robot to the virtual wall Record the virtual wall on the map; calculate the position of the virtual wall in the clean area to avoid the virtual wall; and limit the access of the mobile robot by matching the virtual wall with the clean area, and by setting the virtual on the map through the terminal device The mobile robot is controlled and matched to the actual cleaning area, as if there are actual physical obstacles, and it is easy to clean, and it can effectively control the mobile robot, because it can be set at multiple desired positions, regardless of How many.
Description
本發明涉及一種移動式機器人系統及其控制方法，更具體地，涉及一種藉由在清潔區域內行進以執行清潔的移動式機器人系統及其控制方法。 The present invention relates to a mobile robot system and a control method thereof, and more particularly, to a mobile robot system and a control method thereof that perform cleaning by traveling in a cleaning area.
一般而言，移動式機器人(在此也被稱為清掃機器人或自動清潔器)是在沒有使用者操控的情況下自動地在清潔區域中行進，並且從地板表面吸入如灰塵等異物來自動執行清潔的設備。移動式機器人檢測至設置在清潔區域中的傢俱、辦公用品、牆壁等障礙物的距離，然後繪製清潔區域地圖，或者透過控制左滾輪與右滾輪的驅動執行避開障礙物的操作。 Generally speaking, a mobile robot (also referred to herein as a cleaning robot or an automatic cleaner) travels automatically in a cleaning area without user control, and automatically inhales foreign objects such as dust from the floor surface to perform automatically Clean equipment. The mobile robot detects the distance to obstacles such as furniture, office supplies, and walls set in the cleaning area, and then draws a map of the cleaning area, or performs operations to avoid obstacles by controlling the driving of the left and right rollers.
即使移動式機器人檢測到障礙物，仍會接近障礙物，然後改變路線或移動到另一路線以執行清潔。然而，當移動式機器人接近障礙物並且障礙物被損壞時，例如，當移動式機器人接近花盆或花瓶並且花盆或花瓶倒下時，可能因倒下而產生破損。另外，有時會發生移動式機器人接近障礙物並落在樓梯上，或者爬上門檻或某些障礙物而被隔離的情況。 Even if the mobile robot detects an obstacle, it will still approach the obstacle and then change course or move to another route to perform cleaning. However, when the mobile robot approaches an obstacle and the obstacle is damaged, for example, when the mobile robot approaches a flower pot or vase and the flower pot or vase falls down, breakage may occur due to the fall. In addition, sometimes a mobile robot approaches an obstacle and falls on a staircase, or climbs a threshold or some obstacle to be isolated.
因此，如果移動式機器人被設計成當移動式機器人檢測到障礙物時避開障礙物，則不可能執行對應區域的清潔。因此，基於在接近障礙物之後設定移動式機器人的操作的過程，曾試圖防止移動式機器人接近清潔區域中的特定區域。 Therefore, if the mobile robot is designed to avoid the obstacle when the mobile robot detects the obstacle, it is impossible to perform cleaning of the corresponding area. Therefore, based on the process of setting the operation of the mobile robot after approaching an obstacle, there have been attempts to prevent the mobile robot from approaching a specific area in the cleaning area.
在清潔區域中設置有用於產生特定訊號的裝置，以防止移動式機器人接近清潔區域，從而由該裝置設定的區域不能被接近。然而，由於需要另外購買訊號產生裝置，所以增加了購買費用，而且由於訊號產生裝置應安裝在室內，所以存在安裝空間上的限制。此外，在使用訊號產生裝置的情況下，移 動式機器人無法得知由訊號設定的區域的位置和大小。因此，存在移動式機器人在移動中反複檢測到對應訊號的問題。 A device for generating a specific signal is provided in the cleaning area to prevent the mobile robot from approaching the cleaning area, so that the area set by the device cannot be accessed. However, since the signal generating device needs to be purchased separately, the purchase cost is increased, and since the signal generating device should be installed indoors, there is a limitation on the installation space. In addition, when a signal generating device is used, the mobile robot cannot know the position and size of the area set by the signal. Therefore, there is a problem that the mobile robot repeatedly detects a corresponding signal during the movement.
由於在清潔區域內移動時使用者被認為是障礙物，因此可能對使用者造成不便。另外，由於對應的設備應該安裝在每一個必要的區域中，所以在每次清潔中移動和安裝設備是很麻煩的。 Since the user is considered an obstacle when moving in the cleaning area, it may cause inconvenience to the user. In addition, since the corresponding equipment should be installed in each necessary area, it is troublesome to move and install the equipment during each cleaning.
鑒於上述問題提出了本發明，並且提供了一種移動式機器人系統和其控制方法，該移動式機器人系統透過設定虛擬牆來限制移動式機器人的行進，從而防止移動式機器人接近清潔區域。 The present invention has been made in view of the above-mentioned problems, and provides a mobile robot system and a control method thereof. The mobile robot system restricts the travel of the mobile robot by setting a virtual wall, thereby preventing the mobile robot from approaching a clean area.
根據本發明的一個態樣，一種移動式機器人系統包括：移動式機器人，被配置以在一清潔區域中行進並吸取異物；以及一終端設備，被配置以向該移動式機器人輸入一清潔指令，其中該移動式機器人包括：一資料單元，被配置以儲存用於該清潔區域的地圖；一障礙物檢測單元，被配置以檢測該移動式機器人的前方的障礙物，並輸入一障礙物檢測訊號；以及一控制器，被配置以回應從該障礙物檢測單元輸入的該障礙物檢測訊號判斷障礙物，基於該障礙物的資訊產生包含該清潔區域的一可行進區域的資訊的地圖，並且基於該地圖在該清潔區域中行進時控制以通過或避開障礙物，其中，當由終端設備設定用於限制該移動式機器人接近的一虛擬牆時，該控制器在該清潔區域的該地圖上記錄該虛擬牆並計算該虛擬牆的位置以避開該虛擬牆。 According to one aspect of the present invention, a mobile robot system includes: a mobile robot configured to travel in a cleaning area and suck foreign objects; and a terminal device configured to input a cleaning instruction to the mobile robot, The mobile robot includes: a data unit configured to store a map for the cleaning area; an obstacle detection unit configured to detect an obstacle in front of the mobile robot, and inputting an obstacle detection signal And a controller configured to determine an obstacle in response to the obstacle detection signal input from the obstacle detection unit, and generate a map containing information on a feasible area of the clean area based on the information of the obstacle, and based on The map is controlled to pass or avoid obstacles as it travels in the clean area, wherein the controller is on the map of the clean area when set by a terminal device to restrict access to a virtual wall by the mobile robot. Record the virtual wall and calculate the location of the virtual wall to avoid the virtual wall.
該控制器將該虛擬牆作為障礙物記錄在該地圖上。該控制器分析從該終端設備接收到的該虛擬牆的資料，並且擴展該虛擬牆的區域以記錄在該地圖上。即使從該障礙物檢測單元輸入的該障礙物檢測訊號沒有檢測到障礙物，該控制器也將該虛擬牆識別為障礙物並避開障礙物。 The controller records the virtual wall as an obstacle on the map. The controller analyzes the data of the virtual wall received from the terminal device, and expands the area of the virtual wall to be recorded on the map. Even if the obstacle detection signal input from the obstacle detection unit does not detect an obstacle, the controller recognizes the virtual wall as an obstacle and avoids the obstacle.
該控制器計算該清潔區域的該虛擬牆的座標，並且控制行進以不接觸該虛擬牆或侵入該虛擬牆。當從該終端設備輸入該清潔指令時，該控制器判斷與該地圖對應的目前位置，移動到指定區域並執行清潔，並且當不能判斷該目前位置時為該清潔區域產生新的地圖。 The controller calculates the coordinates of the virtual wall of the clean area and controls travel to not touch the virtual wall or invade the virtual wall. When the cleaning instruction is input from the terminal device, the controller determines a current position corresponding to the map, moves to a designated area and performs cleaning, and generates a new map for the cleaning area when the current position cannot be determined.
在產生新地圖時，初始化一預設的虛擬牆。該終端設備接收包含該移動式機器人的該可行進區域的資訊的地圖，並將該地圖顯示在一螢幕上， 並且回應使用者輸入，將限制該移動式機器人接近的該虛擬牆設定到該地圖。該使用者輸入是一按鍵輸入或一觸控輸入。 When a new map is generated, a preset virtual wall is initialized. The terminal device receives a map containing information on the accessible area of the mobile robot, displays the map on a screen, and responds to user input to set the virtual wall that restricts the mobile robot's access to the map . The user input is a key input or a touch input.
該終端設備以連接點和點的線的形式設定該虛擬牆。該終端設備以連接複數個點的面的形式設定該虛擬牆。 The terminal device sets the virtual wall in the form of a line connecting dots and dots. The terminal device sets the virtual wall in the form of a face connecting a plurality of points.
該終端設備將該虛擬牆設定為矩形、圓形、多邊形和任意形狀中的任一種。該終端設備設定虛擬牆以回應一透過觸控的輸入、一觸控後拖曳以及一多點觸控。 The terminal device sets the virtual wall to any one of a rectangle, a circle, a polygon, and an arbitrary shape. The terminal device sets a virtual wall in response to an input through touch, a drag after touch, and a multi-touch.
該終端設備設定對應於觸控點數量、觸控數量、拖曳方向或拖曳形狀中的任一個的該虛擬牆。該終端設備改變對應於觸摸位置、拖曳方向和拖曳形狀的其中之一的該虛擬牆的位置、形狀和尺寸中的任何一個。 The terminal device sets the virtual wall corresponding to any one of the number of touch points, the number of touches, a dragging direction, or a dragging shape. The terminal device changes any one of a position, a shape, and a size of the virtual wall corresponding to one of a touch position, a drag direction, and a drag shape.
該終端設備顯示經處理過之該移動式機器人的可行進區域的輪廓和形狀的一使用者地圖、或可行進區域疊加在該使用者地圖上的一導引地圖，並且在該地圖上設定該虛擬牆。 The terminal device displays a processed user map of the outline and shape of the feasible area of the mobile robot, or a guide map with the feasible area superimposed on the user map, and sets the map on the map. Virtual wall.
根據本發明的另一態樣，一種控制移動式機器人系統的方法包括：獲取透過在一清潔區域中行進而取得的障礙物資訊，以由移動式機器人產生該清潔區域的地圖；由一終端設備設定一虛擬牆以限制移動式機器人的接近，以回應該地圖；將該虛擬牆記錄在該地圖上；計算該清潔區域的該虛擬牆的位置；以及在根據一清潔指令行進的同時，當靠近該虛擬牆時避開該虛擬牆。 According to another aspect of the present invention, a method for controlling a mobile robot system includes: obtaining obstacle information obtained through a clean area to generate a map of the clean area by the mobile robot; Setting a virtual wall to limit the access of the mobile robot in response to the map; recording the virtual wall on the map; calculating the position of the virtual wall in the cleaning area; and when approaching according to a cleaning instruction, when approaching The virtual wall avoids the virtual wall.
在該地圖上記錄該虛擬牆包括：分析從該終端設備接收到的該虛擬牆的資料，並將該虛擬牆作為障礙物記錄在該地圖中。避免該虛擬牆包括計算該清潔區域的該虛擬牆的座標，並且即使障礙物未被一障礙物檢測單元檢測到，也識別該虛擬牆為障礙物並避開該虛擬牆。 Recording the virtual wall on the map includes analyzing data of the virtual wall received from the terminal device, and recording the virtual wall as an obstacle in the map. Avoiding the virtual wall includes calculating the coordinates of the virtual wall of the clean area, and even if an obstacle is not detected by an obstacle detection unit, the virtual wall is identified as an obstacle and the virtual wall is avoided.
該控制移動式機器人系統的方法還包括：當從該終端設備輸入該清潔指令時，判斷對應於該地圖的一目前位置；當該目前位置被確定時移動到一指定區域並進行清潔；以及當不能判斷該目前位置時，為該清潔區域產生一新地圖。 The method for controlling a mobile robot system further includes: when the cleaning instruction is input from the terminal device, determining a current position corresponding to the map; when the current position is determined, moving to a designated area and cleaning; and when When the current position cannot be determined, a new map is generated for the clean area.
該控制移動式機器人系統的方法進一步包括：在產生該新地圖時初始化一預設的虛擬牆。該控制移動式機器人系統的方法還包括：在該終端設備產生地圖之後，接收包含移動式機器人的可行駛區域的資訊的地圖；以及由 該終端設備在一螢幕上顯示該地圖並且在該地圖上設定該虛擬牆，以回應使用者輸入。 The method of controlling a mobile robot system further includes: initializing a preset virtual wall when generating the new map. The method for controlling a mobile robot system further includes: after the terminal device generates a map, receiving a map containing information on a travelable area of the mobile robot; and the terminal device displaying the map on a screen and displaying the map on the map Set up the virtual wall in response to user input.
該虛擬牆以點、線和面中的任一種的形式來設定。該虛擬牆被設定為矩形、圓形、多邊形和任意形狀中的任一種。 The virtual wall is set in the form of any of points, lines, and faces. This virtual wall is set to any of rectangular, circular, polygonal, and arbitrary shapes.
設定該虛擬牆包括：連接複數個觸控點以設定該虛擬牆。在該地圖上設定該虛擬牆包括：設定該虛擬牆以回應拖曳的方向或拖曳的形狀。 Setting the virtual wall includes: connecting a plurality of touch points to set the virtual wall. Setting the virtual wall on the map includes: setting the virtual wall in response to a dragging direction or a dragging shape.
該控制移動式機器人系統的方法還包括：在該設定虛擬牆之後，當該虛擬牆被選擇時，將該虛擬牆移動到上、下、左和右中的任一方以回應拖曳的方向。該控制移動式機器人系統的方法還包括：在設定該虛擬牆之後，當該虛擬牆被選擇時，以該虛擬牆的中心為一軸，旋轉和改變該虛擬牆以回應拖曳的方向。該控制移動式機器人系統的方法還包括：在設定該虛擬牆之後，當該虛擬牆的點被選擇時，藉由移動點的位置改變該虛擬牆的形狀以回應拖曳的方向。 The method of controlling a mobile robot system further includes: after the setting of the virtual wall, when the virtual wall is selected, moving the virtual wall to any one of up, down, left, and right in response to a dragging direction. The method for controlling a mobile robot system further includes: after setting the virtual wall, when the virtual wall is selected, using the center of the virtual wall as an axis, rotating and changing the virtual wall in response to a dragging direction. The method of controlling a mobile robot system further includes: after setting the virtual wall, when a point of the virtual wall is selected, changing the shape of the virtual wall by the position of the moving point in response to the direction of the drag.
根據本發明的移動式機器人系統及其控制方法可以透過地圖設定移動式機器人行進的清潔區域中的虛擬牆，並且透過與清潔區域匹配來限制移動式機器人的接近，從而防止移動式機器人接近或移動式機器人的損壞。 The mobile robot system and the control method thereof according to the present invention can set a virtual wall in a clean area traveled by the mobile robot through a map, and limit the access of the mobile robot by matching with the clean area, thereby preventing the mobile robot from approaching or moving. Of the robot.
本發明可以透過終端設備在地圖上設定虛擬牆並且以此方式控制移動式機器人，即透過與實際清潔區域相匹配而存在實際的物理性障礙物，從而即使沒有安裝用於產生實際訊號的裝置，也可以控制移動式機器人的行進。另外，由於移動式機器人透過地圖檢查虛擬牆的位置和尺寸，因此可以避開虛擬牆而不重複搜索虛擬牆周圍的虛擬牆。因此，可以實現沿著虛擬牆移動，並且可以考慮虛擬牆相對於設定虛擬牆的區域的位置來預先設定行進路線，從而提高行進效率。 The present invention can set a virtual wall on the map through a terminal device and control the mobile robot in this way, that is, there is an actual physical obstacle by matching with an actual clean area, so even if a device for generating an actual signal is not installed, It is also possible to control the travel of the mobile robot. In addition, since the mobile robot checks the position and size of the virtual wall through the map, it can avoid the virtual wall without repeatedly searching for the virtual wall around the virtual wall. Therefore, moving along the virtual wall can be realized, and the travel route can be set in advance in consideration of the position of the virtual wall relative to the area where the virtual wall is set, thereby improving the travel efficiency.
此外，由於本發明不需要安裝物理性裝置的空間，因此不存在空間上的限制，並且因為可以多個地設定在期望的位置而不論數量多寡，而不干擾使用者在該區域中的移動，從而實現簡單的清潔設定並有效地控制移動式機器人。 In addition, since the present invention does not require a space for installing a physical device, there is no spatial limitation, and because it can be set in a desired position multiple regardless of the number, without disturbing the user's movement in the area, This enables simple cleaning settings and effective control of the mobile robot.
1‧‧‧移動式機器人 1‧‧‧ mobile robot
10‧‧‧本體 10‧‧‧ Ontology
10h‧‧‧抽吸口 10h‧‧‧Suction port
11‧‧‧殼體 11‧‧‧shell
12‧‧‧上表面 12‧‧‧ top surface
33‧‧‧充電端子 33‧‧‧Charging terminal
34‧‧‧抽吸單元 34‧‧‧Suction unit
35‧‧‧刷子 35‧‧‧ Brush
36(L)‧‧‧左滾輪 36 (L) ‧‧‧Left Wheel
36(R)‧‧‧右滾輪 36 (R) ‧‧‧Right wheel
37‧‧‧輔助輪 37‧‧‧ auxiliary wheel
38‧‧‧可再充電電池(電池) 38‧‧‧ Rechargeable battery (battery)
59‧‧‧充電座 59‧‧‧Charging dock
60‧‧‧虛擬牆(牆) 60‧‧‧Virtual Wall (Wall)
61‧‧‧第一虛擬牆(虛擬牆) 61‧‧‧The first virtual wall (virtual wall)
62‧‧‧第二虛擬牆(虛擬牆) 62‧‧‧Second Virtual Wall (Virtual Wall)
63‧‧‧第三虛擬牆 63‧‧‧ Third Virtual Wall
64‧‧‧第四虛擬牆 64‧‧‧ Fourth Virtual Wall
65‧‧‧圓形虛擬牆 65‧‧‧ round virtual wall
66‧‧‧虛擬牆 66‧‧‧Virtual Wall
67a‧‧‧線形虛擬牆 67a‧‧‧ Linear Virtual Wall
67b‧‧‧矩形虛擬牆 67b‧‧‧rectangular virtual wall
68‧‧‧第八虛擬牆 68‧‧‧Eighth Virtual Wall
68a、68b‧‧‧虛擬牆 68a, 68b‧‧‧Virtual Wall
69、69a、69b、69c‧‧‧第九虛擬牆 69, 69a, 69b, 69c
71‧‧‧第十一虛擬牆 71‧‧‧ Eleventh Virtual Wall
71a‧‧‧第十四虛擬牆 71a‧‧‧Fourteenth Virtual Wall
72‧‧‧第十二虛擬牆 72‧‧‧ Twelfth Virtual Wall
72a‧‧‧第十五虛擬牆 72a‧‧‧Fifteenth Virtual Wall
73‧‧‧第十三虛擬牆 73‧‧‧Thirteenth virtual wall
73a‧‧‧第十六虛擬牆 73a‧‧‧ Sixteenth Virtual Wall
100‧‧‧障礙物檢測單元(障礙物感測器) 100‧‧‧ Obstacle detection unit (obstacle sensor)
120‧‧‧第一圖案照射單元(第一圖案發射器) 120‧‧‧First pattern irradiation unit (first pattern emitter)
130‧‧‧第二圖案照射單元(第二圖案發射器) 130‧‧‧second pattern irradiation unit (second pattern emitter)
140‧‧‧影像獲取單元 140‧‧‧Image acquisition unit
150‧‧‧感測器單元(感測器) 150‧‧‧ Sensor Unit (Sensor)
160‧‧‧操作單元(使用者界面) 160‧‧‧operation unit (user interface)
200‧‧‧控制器 200‧‧‧ Controller
210‧‧‧障礙物識別單元(障礙物檢測器) 210‧‧‧ Obstacle recognition unit (obstacle detector)
220‧‧‧地圖產生單元(地圖產生器) 220‧‧‧Map generation unit (map generator)
230‧‧‧行進控制器 230‧‧‧travel controller
240‧‧‧位置識別單元(位置感測器) 240‧‧‧Position recognition unit (position sensor)
250‧‧‧行進驅動單元 250‧‧‧ travel drive unit
260‧‧‧清潔單元(吸頭) 260‧‧‧cleaning unit (tip)
270‧‧‧通訊單元(通信界面) 270‧‧‧communication unit (communication interface)
280‧‧‧資料單元(記憶體) 280‧‧‧Data Unit (Memory)
300‧‧‧終端設備 300‧‧‧ terminal equipment
A1‧‧‧基本地圖 A1‧‧‧ Basic Map
A11~A17、A21~A27、A31~A37、A41~A50‧‧‧區域 A11 ~ A17, A21 ~ A27, A31 ~ A37, A41 ~ A50‧‧‧area
D1、D2、D3、D11‧‧‧行進方向 D1, D2, D3, D11‧‧‧ Direction of travel
L1‧‧‧使用者地圖的輪廓 L1‧‧‧ Outline of user map
L2‧‧‧清潔地圖的輪廓 L2‧‧‧ Clean the outline of the map
P1‧‧‧第一圖案(第一圖案光、圖案光、第一光圖案、光圖案) P1‧‧‧first pattern (first pattern light, pattern light, first light pattern, light pattern)
P2‧‧‧第二圖案(第二圖案光、圖案光、第二光圖案、光圖案) P2‧‧‧Second pattern (second pattern light, pattern light, second light pattern, light pattern)
P11~P12、P21~P24、P31、P32‧‧‧點(連接點) P11 ~ P12, P21 ~ P24, P31, P32‧‧‧points (connection points)
P41~P49、P51~P55、P61~P69‧‧‧點(連接點) P41 ~ P49, P51 ~ P55, P61 ~ P69‧‧‧points (connection point)
Ph‧‧‧水平線 Ph‧‧‧Horizontal
Pv‧‧‧垂直線 Pv‧‧‧ vertical line
θh‧‧‧照射角度 θh‧‧‧irradiation angle
S310~S430‧‧‧步驟 S310 ~ S430‧‧‧step
以下將參考附圖更詳細地描述本發明，其中：圖1為根據本發明一實施例之移動式機器人的立體圖； 圖2為說明圖1之移動式機器人的水平視角的視圖；圖3為圖1之移動式機器人的前視圖；圖4為圖1之移動式機器人的仰視圖；圖5為說明根據本發明一實施例之移動式機器人的主要部份的方塊圖；圖6和圖7為用於說明根據本發明一實施例由移動式機器人產生地圖的方法的視圖；圖8和圖9為說明在根據本發明一實施例之移動式機器人中所產生的地圖的示例圖；圖10為說明根據本發明一實施例之虛擬牆設定的示例圖；圖11為用於說明根據本發明一實施例以線的形式設定虛擬牆的方法的視圖；圖12為用於說明根據本發明一實施將虛擬牆設定為一區域的方法的視圖；圖13為用於說明根據本發明一實施例設定圓形虛擬牆的方法的視圖；圖14為用於說明根據本發明一實施例透過拖曳設定虛擬牆的方法的視圖；圖15為用於說明根據本發明一實施例透過多點觸控設定虛擬牆的方法的視圖；圖16為用於說明根據本發明一實施例之移動式機器人系統之移動虛擬牆的視圖；圖17為用於說明根據本發明一實施例之移動式機器人系統之改變虛擬牆的視圖；圖18和圖19為用於說明根據本發明一實施例當虛擬牆被設定時移動式機器人的行進的視圖；圖20為說明根據本發明一實施例之一組虛擬牆運用於某清潔區域的示例圖；以及圖21為說明根據本發明一實施例藉由使用虛擬牆控制移動式機器人的方法的流程圖。 Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings, in which: FIG. 1 is a perspective view of a mobile robot according to an embodiment of the present invention; FIG. 2 is a view illustrating a horizontal perspective of the mobile robot of FIG. 1; 1 is a front view of the mobile robot; FIG. 4 is a bottom view of the mobile robot of FIG. 1; FIG. 5 is a block diagram illustrating a main part of the mobile robot according to an embodiment of the present invention; FIGS. 6 and 7 are A view for explaining a method for generating a map by a mobile robot according to an embodiment of the present invention; FIGS. 8 and 9 are exemplary diagrams illustrating a map generated in a mobile robot according to an embodiment of the present invention; FIG. 10 is FIG. 11 is a view for explaining a method for setting a virtual wall in a line form according to an embodiment of the present invention; FIG. 12 is a view for explaining an implementation according to the present invention; View of a method of setting a virtual wall as a region; FIG. 13 is a view for explaining a method of setting a circular virtual wall according to an embodiment of the present invention; FIG. 14 is for explaining an embodiment of the present invention A view of a method for setting a virtual wall by dragging; FIG. 15 is a view for explaining a method for setting a virtual wall through multi-touch according to an embodiment of the present invention; FIG. 16 is a mobile type for explaining an embodiment of the present invention A view of a moving virtual wall of a robot system; FIG. 17 is a view for explaining a change of a virtual wall of a mobile robot system according to an embodiment of the present invention; and FIG. 18 and FIG. 19 are views for explaining when a virtual wall according to an embodiment of the present invention A view of the travel of a mobile robot when a wall is set; FIG. 20 is a diagram illustrating an example of applying a set of virtual walls to a clean area according to an embodiment of the present invention; and FIG. 21 is a diagram illustrating the use of a virtual area according to an embodiment of the present invention. Flowchart of a method of a virtual wall controlling a mobile robot.
以下參考附圖詳細描述本發明的示例性實施例。在整個附圖中，相同的參考數字表示相同或相似的部分。在此併入的習知功能和結構的詳細描 述可以被省略以避免模糊本發明的主題。此外，本發明指定控制器和其他組件的配置可以由一個或多個處理器來實現，並且可以由硬體裝置來實現。 Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Throughout the drawings, the same reference numerals indicate the same or similar parts. A detailed description of known functions and structures incorporated herein may be omitted to avoid obscuring the subject matter of the present invention. In addition, the present invention specifies that the configuration of the controller and other components may be implemented by one or more processors, and may be implemented by a hardware device.
圖1是根據本發明一實施例之移動式機器人的立體圖；圖2為說明圖1之移動式機器人的水平視角圖；圖3是圖1之移動式機器人的前視圖；圖4是圖1之移動式機器人的仰視圖。參照圖1至圖4，根據本發明一實施例的移動式機器人1可以包括：本體10，其沿著清潔區域的地板移動並且吸附諸如灰塵的異物；以及障礙物檢測單元(或障礙物感測器)100，其設置在本體10的前部。 1 is a perspective view of a mobile robot according to an embodiment of the present invention; FIG. 2 is a horizontal perspective view illustrating the mobile robot of FIG. 1; FIG. 3 is a front view of the mobile robot of FIG. 1; Bottom view of mobile robot. 1 to 4, a mobile robot 1 according to an embodiment of the present invention may include: a body 10 that moves along a floor of a cleaning area and absorbs foreign objects such as dust; and an obstacle detection unit (or obstacle sensing Device) 100 provided at the front of the body 10.
本體10可以包括：殼體11，其形成外觀並且向內形成用於容納構成本體10的部件的空間；抽吸單元34，設置在殼體11中並且吸入諸如灰塵、垃圾之類的異物；以及可旋轉地設置在殼體11中的左滾輪36(L)和右滾輪36(R)。當左滾輪36(L)和右滾輪36(R)旋轉時，本體10可以沿著清潔區域的地板移動，並且在該過程期間，異物可以透過抽吸單元34被抽吸。 The body 10 may include: a housing 11 that forms an exterior and inwardly forms a space for accommodating components constituting the body 10; a suction unit 34 that is provided in the housing 11 and sucks foreign matters such as dust, garbage, and the like; and The left roller 36 (L) and the right roller 36 (R) are rotatably provided in the housing 11. When the left roller 36 (L) and the right roller 36 (R) rotate, the body 10 can move along the floor of the cleaning area, and during this process, foreign objects can be sucked through the suction unit 34.
抽吸單元34可以包括：用於產生抽吸力的抽吸風扇(圖中未顯示)和用於抽吸由抽吸風扇的旋轉產生的氣流的抽吸口10h。抽吸單元34可以包括：過濾器(圖中未顯示)，用於收集通過抽吸口10h所抽吸的氣流中的異物；以及異物收集箱(圖中未顯示)，積聚由過濾器收集的異物。 The suction unit 34 may include a suction fan (not shown in the figure) for generating a suction force and a suction port 10h for suctioning an air flow generated by the rotation of the suction fan. The suction unit 34 may include: a filter (not shown in the figure) for collecting foreign matters in the airflow sucked through the suction port 10h; and a foreign matter collection box (not shown in the figure) for accumulating the collected by the filter foreign matter.
另外，本體10可以包括用於驅動左滾輪36(L)和右滾輪36(R)的行進驅動單元。該行進驅動單元可以包括至少一個驅動馬達。至少一個驅動馬達可以包括用於旋轉左滾輪36(L)的左滾輪驅動馬達和用於旋轉右滾輪36(R)的右滾輪驅動馬達。 In addition, the body 10 may include a travel driving unit for driving the left roller 36 (L) and the right roller 36 (R). The traveling drive unit may include at least one drive motor. The at least one driving motor may include a left roller driving motor for rotating the left roller 36 (L) and a right roller driving motor for rotating the right roller 36 (R).
左滾輪驅動馬達和右滾輪驅動馬達可以被控制器的行程控制器獨立地操作，使得本體10能夠前進、後退或轉彎。例如，當本體10直行時，左滾輪驅動馬達和右滾輪驅動馬達可以相同的方向旋轉。但是，當左滾輪驅動馬達和右滾輪驅動馬達以不同的速度旋轉或者以相反的方向旋轉時，本體10的行進方向可以改變。還可以設置至少一個用於穩定支撐本體10的輔助輪37。 The left-wheel drive motor and the right-wheel drive motor can be independently operated by the stroke controller of the controller, so that the body 10 can move forward, backward or turn. For example, when the body 10 is traveling straight, the left roller driving motor and the right roller driving motor may rotate in the same direction. However, when the left roller driving motor and the right roller driving motor rotate at different speeds or in opposite directions, the traveling direction of the body 10 may be changed. At least one auxiliary wheel 37 for stably supporting the body 10 may also be provided.
可以進一步設置複數個刷子35，位於殼體11的底面的前側上並具有複數個徑向延伸的刷毛。灰塵可以透過刷子35的旋轉從清潔區域的地板上被移除，以使從地板分離的灰塵可以通過吸入口10h被吸入並集中在收集箱中。 A plurality of brushes 35 may be further provided on the front side of the bottom surface of the housing 11 and having a plurality of radially extending bristles. The dust can be removed from the floor of the cleaning area by the rotation of the brush 35, so that the dust separated from the floor can be sucked through the suction port 10h and concentrated in the collection box.
可以在殼體11的上表面12上設置控制面板，其包含操作單元160，用於從使用者接收用於控制移動式機器人1的各種指令。 A control panel may be provided on the upper surface 12 of the housing 11 and includes an operation unit 160 for receiving various instructions for controlling the mobile robot 1 from a user.
障礙物檢測單元100可以設置在本體10的前表面上。障礙物檢測單元100可以固定到殼體11的前表面，並且可以包括第一圖案照射單元120、第二圖案照射單元130、以及影像獲取單元140。此時，基本上如圖所示，影像獲取單元可以安裝在影像照射單元的下方，但是視情況而定，可以設置在第一圖案照射單元與第二圖案照射單元之間。另外，第二影像獲取單元(圖中未顯示)可以進一步設置在本體的上端。第二影像獲取單元可以拍攝本體的上端部的影像，亦即，天花板。 The obstacle detection unit 100 may be provided on a front surface of the body 10. The obstacle detection unit 100 may be fixed to the front surface of the casing 11, and may include a first pattern irradiation unit 120, a second pattern irradiation unit 130, and an image acquisition unit 140. At this time, basically as shown in the figure, the image acquisition unit may be installed below the image irradiation unit, but may be provided between the first pattern irradiation unit and the second pattern irradiation unit as the case may be. In addition, a second image acquisition unit (not shown in the figure) may be further disposed on the upper end of the body. The second image acquisition unit can capture an image of the upper end of the body, that is, the ceiling.
本體10可以設置有可再充電的電池38。電池38的充電端子33可以連接到商用電源(例如，家中的電源插座)，或者本體10可以對接到連接到商用電源的單獨的充電座(圖中未顯示)，使得充電端子33可以電連接到商用電源，且電池38可以被充電。構成移動式機器人1的電子元件可以由電池38供電。因此，在電池38被充電並且移動式機器人1與商用電源斷開的狀態下，可以實現自動行進。 The body 10 may be provided with a rechargeable battery 38. The charging terminal 33 of the battery 38 can be connected to a commercial power source (for example, a power outlet in a home), or the body 10 can be docked to a separate charging stand (not shown) connected to a commercial power source, so that the charging terminal 33 can be electrically connected to Commercial power and battery 38 can be recharged. The electronic components constituting the mobile robot 1 may be powered by a battery 38. Therefore, in a state where the battery 38 is charged and the mobile robot 1 is disconnected from a commercial power source, automatic travel can be achieved.
圖5為說明根據本發明一實施例之移動式機器人的主要部份的方塊圖。如圖5所示，移動式機器人1可以包括：行進驅動單元(或從馬達接收驅動力的驅動輪)250、清潔單元(或吸頭)260、資料單元(或記憶體)280、障礙物檢測單元(或障礙物感測器)100、感測器單元(或感測器)150、通訊單元(或通信界面)270、操作單元(或使用者界面)160、以及控制器200，用於控制移動式機器人1或其組件的整體操作。 FIG. 5 is a block diagram illustrating a main part of a mobile robot according to an embodiment of the present invention. As shown in FIG. 5, the mobile robot 1 may include a traveling driving unit (or a driving wheel receiving a driving force from a motor) 250, a cleaning unit (or a suction head) 260, a data unit (or memory) 280, and an obstacle detection Unit (or obstacle sensor) 100, sensor unit (or sensor) 150, communication unit (or communication interface) 270, operation unit (or user interface) 160, and controller 200 for controlling The overall operation of the mobile robot 1 or its components.
操作單元160可以包括：諸如至少一個按鈕、開關和觸控板等輸入裝置以接收使用者指令。如上所述，操作單元可以設置在本體10的上端。 The operation unit 160 may include input devices such as at least one button, switch, and touchpad to receive user instructions. As described above, the operation unit may be provided at the upper end of the body 10.
資料單元280可以儲存從障礙物檢測單元100或感測器單元150輸入的障礙物檢測訊號、可以儲存障礙物識別單元210判斷障礙物所需的參考數據、以及可以儲存與檢測到的障礙物有關的障礙物資訊。另外，資料單元280可以儲存用於控制移動式機器人的操作的控制資料以及根據移動式機器人的清潔模式的資料，並且儲存由地圖產生器產生之包括障礙物資訊的地圖。 The data unit 280 can store obstacle detection signals input from the obstacle detection unit 100 or the sensor unit 150, can store reference data required by the obstacle recognition unit 210 to determine obstacles, and can store information related to the detected obstacles. Obstacle information. In addition, the data unit 280 may store control data for controlling the operation of the mobile robot and data according to the cleaning mode of the mobile robot, and store a map including obstacle information generated by the map generator.
資料單元280可以儲存基本地圖、清潔地圖、使用者地圖和導引地圖。障礙物檢測訊號可以包括感測器單元之諸如超音波/雷射的檢測訊號、以及影像獲取單元的獲取影像。資料單元280可以儲存能夠由微處理器讀取的資 料，並且可以包括硬碟(HDD)、固態硬碟(SSD)、矽硬碟(SDD)、ROM、RAM、CD-ROM、磁帶、軟碟和光學資料儲存裝置。 The data unit 280 may store a basic map, a clean map, a user map, and a guide map. The obstacle detection signal may include a detection signal such as an ultrasonic / laser of the sensor unit, and an image acquired by the image acquisition unit. The data unit 280 can store data that can be read by a microprocessor, and can include a hard disk drive (HDD), a solid state drive (SSD), a silicon hard disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, and floppy And optical data storage.
通訊單元270可以以無線通訊方式與終端設備(圖中未顯示)進行通訊。另外，通訊單元270可以通過家庭內網絡連接到網際網路，並且可以與控制移動式機器人的外部伺服器或終端設備進行通訊。 The communication unit 270 can communicate with a terminal device (not shown) in a wireless communication manner. In addition, the communication unit 270 may be connected to the Internet through a home network, and may communicate with an external server or a terminal device that controls the mobile robot.
通訊單元270可以將產生的地圖傳送到終端設備，從終端設備接收清潔指令，並且將關於移動式機器人的操作狀態和清潔狀態的資料傳送到終端設備。通訊單元270不僅可以包括諸如ZigBee、藍芽等的短距離無線通訊模組，而且可以包括諸如Wi-Fi、WiBro等的通訊模組，並且傳送和接收資料。 The communication unit 270 may transmit the generated map to the terminal device, receive a cleaning instruction from the terminal device, and transmit data about the operating status and cleaning status of the mobile robot to the terminal device. The communication unit 270 may not only include short-range wireless communication modules such as ZigBee, Bluetooth, etc., but also include communication modules such as Wi-Fi, WiBro, etc., and transmit and receive data.
同時，終端設備可以是安裝有通訊模組以實現網絡連接的裝置，並且安裝了用於控制移動式機器人的程式或用於控制移動式機器人的應用程式，並且可以是電腦、膝上型電腦、智慧型手機、PDA、平板電腦等。另外，終端設備可以是智慧手錶等穿戴式裝置。 At the same time, the terminal device can be a device installed with a communication module for network connection, and a program for controlling a mobile robot or an application for controlling a mobile robot, and can be a computer, a laptop, Smartphones, PDAs, tablets, etc. In addition, the terminal device may be a wearable device such as a smart watch.
行進驅動單元250可以包括至少一個驅動馬達並且允許移動式機器人根據行進控制器230的控制指令行進。如上所述，行進驅動單元250可以包括用於旋轉左滾輪36(L)的左滾輪驅動馬達和用於旋轉右滾輪36(R)的右滾輪驅動馬達。 The travel driving unit 250 may include at least one driving motor and allow the mobile robot to travel according to a control instruction of the travel controller 230. As described above, the travel driving unit 250 may include a left roller driving motor for rotating the left roller 36 (L) and a right roller driving motor for rotating the right roller 36 (R).
清潔單元260可以操作刷子以容易地吸取移動式機器人周圍的灰塵或異物，並操作抽吸裝置來吸取灰塵或異物。清潔單元260可以控制包含在抽吸單元34中的抽吸風扇的操作，抽吸單元34抽吸灰塵或垃圾等異物，使得灰塵可以通過抽吸口引入到雜質收集箱中。 The cleaning unit 260 may operate a brush to easily suck dust or foreign matter around the mobile robot, and operate a suction device to suck dust or foreign matter. The cleaning unit 260 can control the operation of the suction fan included in the suction unit 34. The suction unit 34 sucks foreign matter such as dust or garbage, so that the dust can be introduced into the foreign matter collection box through the suction port.
障礙物檢測單元100可以包括第一圖案照射單元(或第一圖案發射器)120、第二圖案照射單元(或第二圖案發射器)130、以及影像獲取單元(或影像感測器)140。 The obstacle detection unit 100 may include a first pattern irradiation unit (or a first pattern emitter) 120, a second pattern irradiation unit (or a second pattern emitter) 130, and an image acquisition unit (or image sensor) 140.
感測器單元150可以包括複數個感測器以協助檢測故障。感測器單元150可以使用雷射、超音波和紅外線中的至少一種來感測本體10前方的障礙物，亦即，即行進方向上的障礙物。當傳輸的訊號被反射和輸入時，感測器單元150可以將關於存在障礙物的資訊或到障礙物的距離的資訊作為障礙物檢測訊號輸入到控制器200。 The sensor unit 150 may include a plurality of sensors to assist in detecting a fault. The sensor unit 150 may use at least one of laser, ultrasonic waves, and infrared rays to sense an obstacle in front of the body 10, that is, an obstacle in a traveling direction. When the transmitted signal is reflected and input, the sensor unit 150 may input information about the existence of an obstacle or information about the distance to the obstacle as the obstacle detection signal to the controller 200.
另外，感測器單元150可以包括至少一個傾斜感測器以檢測本體的傾斜。傾斜感測器可以在向本體的前、後、左和右方向傾斜時計算傾斜方向和角度。傾斜感測器可以是傾斜感測器、加速度感測器等。在加速度感測器的情況下，可以使用陀螺儀類型、慣性類型和矽半導體類型中的任一種。 In addition, the sensor unit 150 may include at least one tilt sensor to detect a tilt of the body. The tilt sensor can calculate the tilt direction and angle when tilting to the front, back, left, and right directions of the body. The tilt sensor may be a tilt sensor, an acceleration sensor, or the like. In the case of an acceleration sensor, any one of a gyroscope type, an inertial type, and a silicon semiconductor type can be used.
如上所述，第一圖案照射單元120、第二圖案照射單元130和影像獲取單元140可以安裝在本體10的前方，以將第一圖案和第二圖案(P1、P2)的光照射到移動式機器人10的前方，並且障礙物檢測單元100可以通過拍攝照射圖案的光來獲取影像。障礙物檢測單元100可以將獲取影像作為障礙物檢測訊號輸入到控制器200。 As described above, the first pattern irradiation unit 120, the second pattern irradiation unit 130, and the image acquisition unit 140 may be installed in front of the body 10 to irradiate the light of the first pattern and the second pattern (P1, P2) to the mobile type. In front of the robot 10, the obstacle detection unit 100 can acquire an image by capturing light that irradiates a pattern. The obstacle detection unit 100 may input the acquired image as an obstacle detection signal to the controller 200.
障礙物檢測單元100的第一圖案照射單元120和第二圖案照射單元130可以包括光源以及藉由傳送從光源照射的光來產生特定圖案的光學圖案投影元件(OPPE)。光源可以是雷射二極體(LD)、發光二極體(LED)等。就單色性、直線度和連接特性而言，雷射光可以優於其他光源，從而實現精確的距離測量。尤其是，根據諸如物體的顏色和材料的因素，紅外光或可見光可能在距離測量的準確性方面引起顯著地變化。因此，雷射二極體作為光源是較佳的。光學圖案投影元件(OPPE)可以包括透鏡和繞射光學元件(DOE)。根據包含在圖案照射單元120和130的每一個中的OPPE的配置可以照射各種圖案的光。 The first pattern irradiation unit 120 and the second pattern irradiation unit 130 of the obstacle detection unit 100 may include a light source and an optical pattern projection element (OPPE) that generates a specific pattern by transmitting light irradiated from the light source. The light source may be a laser diode (LD), a light emitting diode (LED), or the like. In terms of monochromaticity, straightness, and connection characteristics, laser light can outperform other light sources for accurate distance measurement. In particular, depending on factors such as the color and material of the object, infrared light or visible light may cause significant changes in the accuracy of the distance measurement. Therefore, a laser diode is preferred as the light source. The optical pattern projection element (OPPE) may include a lens and a diffractive optical element (DOE). Light of various patterns may be irradiated according to the configuration of the OPPE included in each of the pattern irradiation units 120 and 130.
第一圖案照射單元120可以朝向本體10的前下側照射第一圖案P1的光(在下文中，被稱為第一圖案光)。因此，第一圖案光P1可以入射到清潔區域的地板上。 The first pattern irradiation unit 120 may irradiate light of the first pattern P1 (hereinafter, referred to as a first pattern light) toward the front lower side of the body 10. Therefore, the first pattern light P1 can be incident on the floor of the cleaning area.
第一圖案光P1可以以水平線Ph的形式形成。另外，第一圖案光P1可以以水平線Ph與垂直線Pv交叉的交叉圖案的形式形成。 The first pattern light P1 may be formed in the form of a horizontal line Ph. In addition, the first pattern light P1 may be formed in the form of a cross pattern in which the horizontal line Ph intersects the vertical line Pv.
第一圖案照射單元120、第二圖案照射單元130和影像獲取單元140可以垂直排列成一行。影像獲取單元140可以設置在第一圖案照射單元120和第二圖案照射單元130的下方。然而，本發明不限於此，影像獲取單元140可以設置在第一圖案照射單元120和第二圖案照射單元130的上方。 The first pattern irradiation unit 120, the second pattern irradiation unit 130, and the image acquisition unit 140 may be vertically arranged in a row. The image acquisition unit 140 may be disposed below the first pattern irradiation unit 120 and the second pattern irradiation unit 130. However, the present invention is not limited thereto, and the image acquisition unit 140 may be disposed above the first pattern irradiation unit 120 and the second pattern irradiation unit 130.
在一實施例中，第一圖案照射單元120可以位於上側並且可以朝向前方往下照射第一圖案光P1以檢測位於第一圖案照射單元120下方的障礙物。第二圖案照射單元130可以位於第一圖案照射單元120的下方，並且可以朝 向前方往上照射第二圖案的光(P2，以下稱為第二圖案光)。因此，第二圖案光P2可以從清潔區域的地板發射到至少位於比第二圖案照射單元130更高的牆壁或障礙物或該障礙物的特定部分。 In an embodiment, the first pattern irradiation unit 120 may be located on the upper side and may irradiate the first pattern light P1 toward the front and down to detect an obstacle located below the first pattern irradiation unit 120. The second pattern irradiating unit 130 may be located below the first pattern irradiating unit 120, and may irradiate light of the second pattern (P2, hereinafter referred to as second pattern light) toward the front and upward. Therefore, the second pattern light P2 may be emitted from the floor of the cleaning area to a wall or an obstacle or a specific portion of the obstacle that is located at least higher than the second pattern irradiation unit 130.
第二圖案光P2可以具有不同於第一圖案光P1的圖案，並且較佳地可以包括水平線。此處，水平線不一定是連續的線段，而可以是虛線。 The second pattern light P2 may have a pattern different from the first pattern light P1, and preferably may include a horizontal line. Here, the horizontal line is not necessarily a continuous line segment, but may be a dotted line.
同時，在圖2中，照射角度θh可以表示從第一圖案照射單元120照射的第一圖案光P1的水平照射角度，並且表示水平線Ph的兩端與第一圖案照射單元120之間形成的角度。照射角度較佳設定在130~140度的範圍內，但不限於此。圖2所示的虛線可以指向移動式機器人1的前方，並且第一圖案光P1可以被配置為相對於虛線對稱。 Meanwhile, in FIG. 2, the irradiation angle θh may represent a horizontal irradiation angle of the first pattern light P1 irradiated from the first pattern irradiation unit 120 and an angle formed between both ends of the horizontal line Ph and the first pattern irradiation unit 120 . The irradiation angle is preferably set in a range of 130 to 140 degrees, but is not limited thereto. The dotted line shown in FIG. 2 may point in front of the mobile robot 1, and the first pattern light P1 may be configured to be symmetrical with respect to the dotted line.
類似於第一圖案照射單元120，可以將第二圖案照射單元130的水平照射角度較佳地限定在130至140度的範圍內。根據一實施例，第二圖案照射單元130可以以與第一圖案照射單元120相同的水平照射角度照射第二圖案光P2。在此情況下，第二圖案光P2也可以相對於圖2所示的虛線對稱地形成。 Similar to the first pattern irradiation unit 120, the horizontal irradiation angle of the second pattern irradiation unit 130 may be preferably limited to a range of 130 to 140 degrees. According to an embodiment, the second pattern irradiation unit 130 may irradiate the second pattern light P2 at the same horizontal irradiation angle as the first pattern irradiation unit 120. In this case, the second pattern light P2 may be formed symmetrically with respect to the dotted line shown in FIG. 2.
影像獲取單元140可以獲取本體10前方的影像。尤其是，圖案光P1和P2可出現在由影像獲取單元140獲取的影像中(在下文中，被稱為獲取影像)。在下文中，在獲取影像中顯示的圖案光P1和P2的圖案可以被稱為光圖案。由於這實質上是在影像感測器中形成的入射在實際空間上的圖案光P1和P2的影像，因此可以給與和圖案光P1及P2相同的參考數字。因此，分別對應於第一圖案光P1和第二圖案光P2的影像可以被稱為第一光圖案P1和第二光圖案P2。 The image acquisition unit 140 may acquire an image in front of the main body 10. In particular, the pattern lights P1 and P2 may appear in an image acquired by the image acquisition unit 140 (hereinafter, referred to as an acquired image). Hereinafter, the pattern of the pattern lights P1 and P2 displayed in the acquired image may be referred to as a light pattern. Since this is essentially an image of the pattern lights P1 and P2 incident on the actual space formed in the image sensor, the same reference numbers as the pattern lights P1 and P2 can be given. Therefore, the images corresponding to the first pattern light P1 and the second pattern light P2, respectively, may be referred to as the first light pattern P1 and the second light pattern P2.
影像獲取單元140可以包括數位相機，將物體的影像轉換成電信號，並轉換成數位訊號以將數位訊號儲存在記憶體裝置中。數位相機可以包括影像感測器(圖中未顯示)和影像處理器(圖中未顯示)。 The image acquisition unit 140 may include a digital camera, which converts an image of an object into an electrical signal, and converts it into a digital signal to store the digital signal in a memory device. The digital camera may include an image sensor (not shown) and an image processor (not shown).
影像感測器可以是用於將光學影像轉換成電信號的設備。影像感測器可以由其上整合有多個光電二極體的晶片組成，並且光電二極體可以是像素。通過形成在晶片中的影像中的電荷可以透過透鏡在各個像素中累積。在像素中累積的電荷可以被轉換成電信號(例如，電壓)。作為影像感測器，電荷耦合裝置(CCD)和互補式金屬氧化物半導體(CMOS)是眾所皆知的。 The image sensor may be a device for converting an optical image into an electrical signal. The image sensor may be composed of a wafer on which a plurality of photodiodes are integrated, and the photodiodes may be pixels. The charge in the image formed in the wafer can be accumulated in each pixel through the lens. The charge accumulated in a pixel may be converted into an electrical signal (eg, a voltage). As image sensors, a charge-coupled device (CCD) and a complementary metal oxide semiconductor (CMOS) are well known.
影像處理單元可以基於從影像感測器輸出的模擬訊號產生數位影像。影像處理單元可以包括：AD轉換器，用於將類比訊號轉換成數位訊號； 緩衝記憶體，用於暫存AD轉換器輸出的數位訊號；以及數位訊號處理器(DSP)，用以處理儲存在緩衝記憶體中的資料，並建構數位影像。 The image processing unit may generate a digital image based on an analog signal output from the image sensor. The image processing unit may include: an AD converter for converting analog signals into digital signals; a buffer memory for temporarily storing digital signals output by the AD converter; and a digital signal processor (DSP) for processing stored in the Buffer data in memory and construct digital images.
控制器200可以包括障礙物識別單元(或障礙物檢測器)210、地圖產生單元(或地圖產生器)220、行進控制器230、以及位置識別單元(或位置感測器)240。 The controller 200 may include an obstacle recognition unit (or obstacle detector) 210, a map generation unit (or map generator) 220, a travel controller 230, and a position recognition unit (or position sensor) 240.
障礙物識別單元210可以藉由從障礙物檢測單元100輸入的獲取影像來判斷障礙物。行進控制器230可以根據障礙物資訊控制行進驅動單元250改變移動方向或行進路線以通過障礙物或避開障礙物。行進控制器230可以控制行進驅動單元250獨立地控制左、右滾輪驅動馬達的操作，使得本體10能夠直線行進或轉彎。 The obstacle recognition unit 210 can determine an obstacle by acquiring an image input from the obstacle detection unit 100. The traveling controller 230 may control the traveling driving unit 250 to change the moving direction or the traveling route to pass the obstacle or avoid the obstacle according to the obstacle information. The travel controller 230 can control the travel drive unit 250 to independently control the operation of the left and right wheel drive motors, so that the body 10 can travel straight or turn.
障礙物識別單元210可以將從感測器單元150或障礙物檢測單元100輸入的障礙物檢測訊號儲存在資料單元280中，並且分析障礙物檢測訊號以判斷障礙物。障礙物識別單元210可以基於感測器單元的訊號來判斷是否存在前方障礙物，並分析獲取影像以判斷障礙物的位置、大小和形狀。 The obstacle recognition unit 210 may store an obstacle detection signal input from the sensor unit 150 or the obstacle detection unit 100 in the data unit 280, and analyze the obstacle detection signal to determine an obstacle. The obstacle recognition unit 210 may determine whether there is an obstacle in front based on the signal of the sensor unit, and analyze and acquire an image to determine the position, size, and shape of the obstacle.
障礙物識別單元210可以分析獲取影像並提取圖案。障礙物識別單元210可以提取當從第一圖案照射單元或第二圖案照射單元照射的圖案的光照射在地板或障礙物上時所產生的光圖案，並且基於提取的光圖案判斷障礙物。 The obstacle recognition unit 210 may analyze and acquire an image and extract a pattern. The obstacle recognition unit 210 may extract a light pattern generated when light of a pattern irradiated from the first pattern irradiation unit or the second pattern irradiation unit is irradiated on a floor or an obstacle, and judge the obstacle based on the extracted light pattern.
障礙物識別單元210可以從由影像獲取單元140獲取的影像(獲取影像)中檢測光圖案P1和P2。障礙物識別單元210可以針對構成獲取影像的特定像素檢測諸如點、線、面等的特徵，並基於檢測到的特徵檢測光圖案P1和P2或構成圖案P1和P2之點、線、表面等。 The obstacle recognition unit 210 may detect the light patterns P1 and P2 from the images (acquisition images) acquired by the image acquisition unit 140. The obstacle recognition unit 210 may detect features such as points, lines, and faces for specific pixels constituting the acquired image, and detect the light patterns P1 and P2 or the points, lines, and surfaces constituting the patterns P1 and P2 based on the detected features.
障礙物識別單元210可以提取由比周圍區域亮的連續像素構成的線，並且提取構成第一光圖案P1的水平線Ph和構成第二光圖案P2的水平線。然而，本發明不限於此。用於從數位影像提取期望圖案的各種技術是習知的，並且障礙物識別單元210可以藉由使用習知技術提取第一光圖案P1和第二光圖案P2。 The obstacle recognition unit 210 may extract a line composed of continuous pixels brighter than the surrounding area, and extract a horizontal line Ph constituting the first light pattern P1 and a horizontal line constituting the second light pattern P2. However, the present invention is not limited to this. Various techniques for extracting a desired pattern from a digital image are known, and the obstacle recognition unit 210 can extract the first light pattern P1 and the second light pattern P2 by using a known technique.
另外，障礙物識別單元210可以基於檢測到的圖案來判斷障礙物的存在，並且判斷障礙物的形狀。障礙物識別單元210可以藉由第一光圖案和第二光圖案來判斷障礙物，並計算到障礙物的距離。另外，障礙物識別單元210可 以藉由第一光圖案和第二光圖案的形狀以及當接近障礙物時顯示的光圖案的改變來判斷障礙物的尺寸(高度)和形狀。 In addition, the obstacle recognition unit 210 may determine the presence of an obstacle based on the detected pattern, and determine the shape of the obstacle. The obstacle recognition unit 210 can determine the obstacle by the first light pattern and the second light pattern, and calculate the distance to the obstacle. In addition, the obstacle recognition unit 210 can judge the size (height) and shape of the obstacle by the shapes of the first light pattern and the second light pattern and the change of the light pattern displayed when approaching the obstacle.
障礙物識別單元210可以基於相對於第一圖案和第二圖案的參考位置的距離來判斷障礙物。當第一光圖案P1出現在比基準位置低的位置時，障礙物識別單元210可以判斷存在下坡。當第一光圖案P1消失時，障礙物識別單元210可以判斷存在懸崖。另外，當第二光圖案出現時，障礙物識別單元210可以判斷前方障礙物或上方障礙物。 The obstacle recognition unit 210 may determine an obstacle based on a distance from a reference position of the first pattern and the second pattern. When the first light pattern P1 appears at a position lower than the reference position, the obstacle recognition unit 210 may determine that there is a downhill slope. When the first light pattern P1 disappears, the obstacle recognition unit 210 may determine that a cliff exists. In addition, when the second light pattern appears, the obstacle recognition unit 210 may determine a front obstacle or an upper obstacle.
障礙物識別單元210可以基於從感測器單元150的傾斜感測器輸入的傾斜資訊來判斷本體是否傾斜。當本體傾斜時，障礙物識別單元210可以補償相對於獲取影像的光圖案的位置的傾斜。 The obstacle recognition unit 210 may determine whether the body is tilted based on the tilt information input from the tilt sensor of the sensor unit 150. When the body is tilted, the obstacle recognition unit 210 may compensate for the tilt with respect to the position of the light pattern of the acquired image.
行進控制器230可以控制行進驅動單元250在清潔區域的指定區域行進並執行清潔，並且控制清潔單元260在行進時藉由吸入灰塵來執行清潔。回應由障礙物識別單元210識別的障礙物，行進控制器230可以判斷是否可行進或進入、設定行進路線以接近障礙物並行進、以及控制行進驅動單元250通過障礙物或避開障礙物。 The travel controller 230 may control the travel drive unit 250 to travel in a designated area of the cleaning area and perform cleaning, and control the cleaning unit 260 to perform cleaning by inhaling dust during travel. In response to the obstacle identified by the obstacle recognition unit 210, the travel controller 230 may determine whether it is feasible to enter or enter, set a travel route to approach the obstacle and travel in parallel, and control the travel drive unit 250 to pass through the obstacle or avoid the obstacle.
地圖產生單元220可以基於由障礙物識別單元210判斷的障礙物的資訊產生清潔區域的地圖。地圖產生單元220可以在初始操作中或當沒有儲存清潔區域的地圖時，在行進清潔區域的同時基於障礙物資訊產生清潔區域的地圖。另外，地圖產生單元220可以基於在行進期間獲取的障礙物資訊更新預先產生的地圖。 The map generating unit 220 may generate a map of a clean area based on the information of the obstacle determined by the obstacle recognition unit 210. The map generating unit 220 may generate a map of the clean area based on the obstacle information while traveling the clean area in the initial operation or when the map of the clean area is not stored. In addition, the map generating unit 220 may update a map generated in advance based on the obstacle information acquired during the travel.
地圖產生單元220可以基於在行進期間從障礙物識別單元210獲取的資訊產生基本地圖，並且通過從基本地圖中劃分區域來產生清潔地圖。另外，地圖產生單元220可以重新調整清潔地圖的區域並設置該區域的屬性以產生使用者地圖和導引地圖。 The map generating unit 220 may generate a basic map based on information acquired from the obstacle recognition unit 210 during traveling, and generate a clean map by dividing an area from the basic map. In addition, the map generating unit 220 may readjust an area of the clean map and set attributes of the area to generate a user map and a guide map.
基本地圖可以是藉由行進中獲取的清潔區域的形狀被顯示為輪廓的地圖，且清潔地圖可以是在基本地圖中劃分區域的地圖。基本地圖和清潔地圖可以包括移動式機器人的可移動區域和障礙物資訊。使用者地圖可以是簡化清潔地圖的區域並重新調整和處理輪廓的形狀並添加視覺效果的地圖。導引地圖可以是重疊了清潔地圖和使用者地圖的地圖。由於清潔地圖顯示在導引地圖中，因此可以基於移動式機器人實際可行進的區域輸入清潔指令。 The basic map may be a map in which the shape of the cleaning area acquired by the travel is displayed as an outline, and the cleaning map may be a map in which the area is divided in the basic map. The base map and the cleaning map may include movable area and obstacle information of the mobile robot. The user map can be a map that simplifies cleaning the area of the map and readjusts and shapes the outline and adds visual effects. The guide map may be a map in which a clean map and a user map are superimposed. Since the cleaning map is displayed in the guide map, a cleaning instruction can be entered based on the area where the mobile robot can actually go.
在產生基本地圖之後，地圖產生單元220可以透過將清潔區域劃分為複數個區域並連接該複數個區域的連結路徑來產生地圖，並且在各個區域中包含關於障礙物的資訊。地圖產生單元220可以透過劃分小區域來設置代表性區域，以在地圖上劃分區域，並且將劃分的小區域設置為要被合併到代表區域中之單獨的細節區域，因此產生該區域被分割的地圖。 After generating the basic map, the map generating unit 220 may generate a map by dividing the clean area into a plurality of areas and connecting paths connecting the plurality of areas, and include information on obstacles in each area. The map generating unit 220 may set a representative area by dividing a small area to divide the area on the map, and set the divided small area as a separate detail area to be merged into the representative area, so that the area is divided into map.
地圖產生單元220可以針對每一個劃分的區域來處理區域的形狀。地圖產生單元220可以為劃分的區域設定屬性，並根據每一個區域的屬性來處理該區域的形狀。地圖產生單元220可以先在每一個劃分的區域中基於與其他區域的接觸點的數量來判斷主要區域。主要區域可以基本上是起居室，但是在某些情況下主要區域可以被改變為複數個房間中的任何一個。地圖產生單元220可以基於主要區域來設定用於剩餘區域的屬性。例如，地圖產生單元220可以將基於作為主要區域的起居室提供的特定大小或更大的區域設定為房間，並將剩餘區域設定為其他區域。 The map generating unit 220 may process the shape of the area for each divided area. The map generating unit 220 may set attributes for the divided regions, and process the shape of the region according to the attributes of each region. The map generating unit 220 may first determine a main area based on the number of contact points with other areas in each divided area. The main area may be basically a living room, but in some cases the main area may be changed to any one of a plurality of rooms. The map generating unit 220 may set attributes for the remaining areas based on the main area. For example, the map generating unit 220 may set an area of a specific size or larger based on a living room as a main area as a room, and set the remaining area as another area.
地圖產生單元220可以根據區域的屬性依據標準來處理區域的形狀，使得每一個區域可以具有特定的形狀。例如，地圖產生單元220可以基於典型的家庭房間類型(例如，正方形)來處理區域的形狀。另外，地圖產生單元220可以透過基於基本地圖的最外側單元擴大區域的形狀以處理區域的形狀，並且針對由於障礙物而無法被接近的區域來刪除或減小區域的形狀。 The map generating unit 220 may process the shape of the area according to the attribute of the area according to the standard, so that each area may have a specific shape. For example, the map generating unit 220 may process the shape of the area based on a typical family room type (for example, a square). In addition, the map generating unit 220 can process the shape of the area by expanding the shape of the area based on the outermost unit of the basic map, and delete or reduce the shape of the area for areas that cannot be approached due to obstacles.
另外，根據障礙物的大小，在基本地圖中，地圖產生單元220可以在地圖上顯示具有特定尺寸或更大尺寸的障礙物，並且刪除對應的小於特定尺寸的障礙物的單元以防止顯示出該障礙物。例如，地圖產生單元可以在地圖上顯示諸如具有特定尺寸或更大尺寸的椅子、沙發等傢俱，並從地圖中刪除臨時障礙物，例如小玩具。地圖產生單元220可以在產生地圖時將充電座59的位置與地圖儲存在一起。 In addition, according to the size of the obstacle, in the basic map, the map generating unit 220 may display the obstacle having a specific size or larger on the map, and delete the corresponding unit smaller than the obstacle of the specific size to prevent the display of the obstacle. obstacle. For example, the map generating unit may display furniture such as chairs, sofas, and the like having a specific size or larger on a map, and remove temporary obstacles, such as small toys, from the map. The map generating unit 220 may store the position of the charging stand 59 and the map together when generating a map.
地圖產生單元220可以在產生地圖之後，基於從障礙物識別單元210輸入的障礙物資訊，針對檢測到的障礙物在地圖中增添障礙物。地圖產生單元220可以當在固定位置重複檢測到特定障礙物時向地圖增添障礙物，並且當臨時檢測到障礙物時忽略該障礙物。地圖產生單元220可以產生使用者地圖，其為加工形式的地圖；以及導引地圖，其透過疊加使用者地圖與清潔地圖來顯示。 The map generating unit 220 may add an obstacle to the detected obstacle based on the obstacle information input from the obstacle recognition unit 210 after the map is generated. The map generating unit 220 may add an obstacle to the map when a specific obstacle is repeatedly detected at a fixed position, and ignore the obstacle when the obstacle is temporarily detected. The map generating unit 220 may generate a user map, which is a processed map, and a guide map, which is displayed by superimposing the user map and the clean map.
當由終端設備300設定虛擬牆時，地圖產生單元220可以基於透過通訊單元接收到的虛擬牆資料，將虛擬牆的位置設定於清潔地圖中，並計算虛擬牆對應於清潔區域的座標。地圖產生單元220可以將清潔地圖中的虛擬牆記錄為障礙物。 When the virtual wall is set by the terminal device 300, the map generating unit 220 may set the position of the virtual wall in the clean map based on the virtual wall data received through the communication unit, and calculate the coordinates of the virtual wall corresponding to the clean area. The map generating unit 220 may record the virtual wall in the clean map as an obstacle.
地圖產生單元220可以擴張由終端設備設定的虛擬牆，並將其記錄為障礙物。在行進期間，地圖產生單元220可以將設定的虛擬牆擴張和設定到更寬的範圍，使得本體10可以不接觸或不會進入到虛擬牆中，以防止本體10接觸虛擬牆。 The map generating unit 220 may expand a virtual wall set by the terminal device and record it as an obstacle. During the travel, the map generating unit 220 may expand and set the set virtual wall to a wider range, so that the body 10 may not touch or enter the virtual wall to prevent the body 10 from contacting the virtual wall.
當本體10的目前位置不能由位置識別單元240判斷時，地圖產生單元220可以為清潔區域產生新的地圖。地圖產生單元220可以判斷本體10已經移動到新的區域並且初始化預設的虛擬牆。 When the current position of the body 10 cannot be determined by the position recognition unit 240, the map generating unit 220 may generate a new map for the clean area. The map generating unit 220 may determine that the body 10 has moved to a new area and initialize a preset virtual wall.
移動式機器人可以基於清潔地圖進行清潔，並且將使用者地圖和導引地圖傳送到終端設備。終端設備300可以儲存導引地圖和使用者地圖以顯示在螢幕上，並且根據該設定，輸出其中的一種。當從終端設備300輸入基於使用者地圖或導引地圖的清潔指令時，移動式機器人1可以基於清潔地圖行進並清潔指定區域。位置識別單元240可以基於儲存在資料單元中的地圖(清潔地圖、導引地圖或使用者地圖)判斷本體10的目前位置。 The mobile robot can perform cleaning based on the cleaning map, and transmit the user map and the guide map to the terminal device. The terminal device 300 may store a guide map and a user map for display on the screen, and output one of them according to the setting. When a cleaning instruction based on a user map or a guide map is input from the terminal device 300, the mobile robot 1 may travel and clean a designated area based on the cleaning map. The position recognition unit 240 may determine the current position of the body 10 based on a map (a clean map, a guide map, or a user map) stored in the data unit.
當輸入清潔指令時，位置識別單元240可以判斷地圖上的位置是否與本體10的目前位置一致。當目前位置與地圖上的位置不一致或者目前位置不能被確認時，位置識別單元240可識別目前位置並恢復移動式機器人1的目前位置。當目前位置被恢復時，行進控制器230可以基於目前位置來控制行進驅動單元移動到指定區域。清潔指令可以從遙控器(圖中未顯示)、操作單元160或者終端設備300來輸入。 When a cleaning instruction is input, the position recognition unit 240 may determine whether the position on the map is consistent with the current position of the body 10. When the current position is inconsistent with the position on the map or the current position cannot be confirmed, the position recognition unit 240 may recognize the current position and restore the current position of the mobile robot 1. When the current position is restored, the travel controller 230 may control the travel drive unit to move to a designated area based on the current position. The cleaning instruction may be input from a remote controller (not shown in the figure), the operation unit 160, or the terminal device 300.
當目前位置與地圖上的位置不一致或者目前位置不能被確認時，位置識別單元240可以分析來自影像獲取單元140的獲取影像，並基於地圖評估目前位置。位置識別單元240可以處理由地圖產生單元220在產生地圖期間在各個位置所獲取的獲取影像，並且與地圖相關聯地識別本體在整個區域中的位置。 When the current position is inconsistent with the position on the map or the current position cannot be confirmed, the position recognition unit 240 may analyze the acquired image from the image acquisition unit 140 and evaluate the current position based on the map. The position recognition unit 240 may process the acquired images acquired by the map generation unit 220 at various positions during the map generation, and identify the position of the ontology in the entire area in association with the map.
位置識別單元240可以藉由使用影像獲取單元140的獲取影像將地圖與地圖上的各個位置的獲取影像進行比較，以判斷本體的目前位置，從而可以估計和識別目前位置，即便當本體的位置突然改變。 The position recognition unit 240 can compare the map with the acquired images of various locations on the map by using the acquired images of the image acquisition unit 140 to determine the current position of the body, so that the current position can be estimated and identified, even when the position of the body is suddenly change.
位置識別單元240可以分析包括在獲取影像中的各種特徵，諸如吸頂燈、邊緣、角落、斑點、屋脊等。獲取影像可以從影像獲取單元或設置在本體上端的第二影像獲取單元輸入。 The position recognition unit 240 may analyze various features included in the acquired image, such as a ceiling lamp, an edge, a corner, a spot, a roof, and the like. The acquired image may be input from an image acquisition unit or a second image acquisition unit provided on the upper end of the body.
位置識別單元240可以從每一個獲取影像中檢測特徵。電腦視覺領域中用於從影像檢測特徵的各種方法是眾所皆知的。適用於檢測這些特徵的幾個特徵檢測器是已知的，例如：影像對位(Canny)、邊檢測(Sobel)、Harris & Stephens/Plessey、SUSAN、Shi & Tomasi、Level曲率曲線、FAST、高斯拉普拉斯、高斯差分、Hessian行列式、MSER、PCBR和灰階斑點檢測器等。 The position recognition unit 240 may detect features from each of the acquired images. Various methods for detecting features from images in the field of computer vision are well known. Several feature detectors suitable for detecting these features are known, such as: image alignment (Canny), edge detection (Sobel), Harris & Stephens / Plessey, SUSAN, Shi & Tomasi, Level curvature curve, FAST, Gauss Laplace, Gaussian difference, Hessian determinant, MSER, PCBR and grayscale speckle detectors.
位置識別單元240可以基於每一個特徵點計算描述符號。位置識別單元240可以透過使用尺度不變特徵變換(SIFT)技術將特徵點轉換為描述符號以進行特徵檢測。描述符號可以用n維向量表示。SIFT可以檢測關於照片的主題的比例、旋轉和亮度變化的不變特徵。即使移動式機器人1以不同姿勢拍攝相同的區域，也可以檢測到不變(旋轉不變)特徵。顯然，本發明不限於此，各種其他技術(例如，HOG：方向梯度直方圖(Histogram of Oriented Gradient)、哈爾特徵(Haar feature)、有限元素法(Fems)、局部二值模式(LBP)和修正普查式轉換(MCT))皆可被應用。 The position recognition unit 240 may calculate a description symbol based on each feature point. The position recognition unit 240 may convert feature points into description symbols by using a scale invariant feature transform (SIFT) technology for feature detection. Descriptors can be represented by n-dimensional vectors. SIFT can detect invariant features related to the scale, rotation, and brightness of the subject of a photo. Even if the mobile robot 1 shoots the same area in different poses, it can detect invariant (rotation-invariant) features. Obviously, the present invention is not limited to this, various other technologies (for example, HOG: Histogram of Oriented Gradient, Haar feature, Finite Element Method (Fems), Local Binary Pattern (LBP), and Modified census conversion (MCT)) can be applied.
位置識別單元240可以基於通過各個位置的獲取影像所獲取的描述符號資訊，根據某個子分類規則將每一個獲取影像的至少一個描述符號分類為複數個組，並可以根據特定的子代表規則，將包括在同一組內的描述符號轉換為子代表描述符號。在另一案例中，也可以根據某個子代表規則，將從某個區域(如房間)中的採集影像中採集到的所有描述符號分類為複數個組，並將包括在同一組中的描述符號分別按照一定的子代表規則轉換為子代表描述符號。 The position recognition unit 240 may classify at least one descriptive symbol of each acquired image into a plurality of groups based on a certain sub-classification rule based on the descriptive symbol information obtained through the acquired images at each location, and may classify the at least one descriptive symbol of each acquired image according to a certain sub-representation rule Descriptors included in the same group are converted into sub-representative descriptors. In another case, according to a certain sub-representation rule, all description symbols collected from the collected images in a certain area (such as a room) can be classified into a plurality of groups, and the description symbols included in the same group They are converted into sub-representative description symbols according to certain sub-representative rules.
位置識別單元240可以通過這樣的過程來獲得每一個位置的特徵分佈。每一個位置特徵分佈可以由直方圖或n維向量表示。作為另一案例，位置識別單元240可以基於從每一個特徵點計算出的描述符號估計未知的目前位置，而不經過特定的子分類規則和特定的子代表規則。另外，當移動式機器人1 的目前位置由於位置跳躍等而處於未知狀態時，位置識別單元240可以基於諸如預先儲存的描述符號，子代表描述符號等資料來推估目前位置。 The position recognition unit 240 can obtain the feature distribution of each position through such a process. Each position feature distribution can be represented by a histogram or an n-dimensional vector. As another case, the position recognition unit 240 may estimate an unknown current position based on the description symbol calculated from each feature point without going through a specific sub-classification rule and a specific sub-representation rule. In addition, when the current position of the mobile robot 1 is in an unknown state due to a position jump or the like, the position recognition unit 240 may estimate the current position based on information such as a previously stored description symbol, a sub-representative description symbol, and the like.
位置識別單元240可以透過影像獲取單元140在未知的目前位置獲取該獲取影像，並且在透過影像檢查諸如位於天花板上的光、邊緣、角落、斑點、屋脊等之時從該獲取影像檢測特徵。 The position recognition unit 240 can acquire the acquired image through the image acquisition unit 140 at an unknown current position and detect features such as light, edges, corners, spots, ridges, etc. located on the ceiling through the image.
位置識別單元240可以基於通過未知目前位置的獲取影像所獲取的至少一個識別描述符號資訊，根據特定的子轉換規則和可比較的資訊(子識別特徵分佈)，轉換成要比較的位置資訊(例如，每一個位置的特徵分佈)。根據一特定的子比較規則，可以比較各個位置特徵分佈與各個識別特徵分佈以計算各個相似度。可以根據上述每一個位置對應的位置計算相似度(或然率)，且計算出最大概率的位置可以判斷為目前位置。 The position recognition unit 240 may convert the position information to be compared (for example, based on the specific sub-conversion rules and comparable information (sub-recognition feature distribution) based on at least one identification description symbol information obtained through the acquired image of the unknown current position) , The feature distribution of each location). According to a specific sub-comparison rule, each position feature distribution can be compared with each recognition feature distribution to calculate each similarity. The similarity (probability) can be calculated according to the position corresponding to each of the positions described above, and the position where the maximum probability is calculated can be determined as the current position.
當在行進期間由地圖產生單元220更新地圖時，控制器200可以透過通訊單元將更新的資訊傳送到終端設備300，使得儲存在終端設備和移動式機器人1中的地圖能夠是相同的。因此，當儲存在終端設備300和移動式機器人1中的地圖維持相同時，移動式機器人1可以回應來自終端設備的清潔指令以清潔指定區域。另外，終端設備可以在地圖上顯示移動式機器人的目前位置。 When the map is updated by the map generating unit 220 during the travel, the controller 200 may transmit the updated information to the terminal device 300 through the communication unit, so that the maps stored in the terminal device and the mobile robot 1 can be the same. Therefore, when the maps stored in the terminal device 300 and the mobile robot 1 remain the same, the mobile robot 1 can respond to a cleaning instruction from the terminal device to clean a designated area. In addition, the terminal device can display the current position of the mobile robot on a map.
當輸入清潔指令時，行進控制器230可以控制行進驅動單元移動到清潔區域中的指定區域，並且操作清潔單元在行進中同時執行清潔。當輸入對於多個區域的清潔指令時，行進控制器230可以根據優先區域的設定或者指定順序移動到區域，從而可以執行清潔。當未指定單獨的清潔指令時，行進控制器230可以基於目前位置並依據距離移動到鄰接區域或鄰近區域執行清潔。 When a cleaning instruction is input, the travel controller 230 may control the travel drive unit to move to a designated area in the cleaning area, and operate the cleaning unit to perform cleaning while traveling. When a cleaning instruction for a plurality of areas is input, the travel controller 230 may move to the area according to the setting or designated order of the priority area, so that cleaning may be performed. When no separate cleaning instruction is specified, the travel controller 230 may perform cleaning by moving to an adjacent area or an adjacent area based on the current position and depending on the distance.
另外，當不管區域分割而輸入對任意區域的清潔指令時，行進控制器230可以移動到包含在任意區域中的區域並執行清潔。當虛擬牆被設定時，行進控制器230可以基於從地圖產生單元220輸入的座標以控制行進驅動單元避開虛擬牆。即使障礙物識別單元210判斷障礙物不存在，行進控制器230也可以識別出在對應位置處存在障礙物，並且在虛擬牆被設定時限制行進。 In addition, when a cleaning instruction for an arbitrary area is input regardless of the area division, the travel controller 230 may move to an area included in the arbitrary area and perform cleaning. When the virtual wall is set, the traveling controller 230 may control the traveling driving unit to avoid the virtual wall based on the coordinates input from the map generating unit 220. Even if the obstacle recognition unit 210 determines that the obstacle does not exist, the travel controller 230 can recognize that there is an obstacle at the corresponding position, and restrict the travel when the virtual wall is set.
當設定指定區域的清潔完成時，控制器200可以將清潔記錄儲存在資料單元中。另外，控制器200可以通過通訊單元以一定的時間間隔將移動式機器人1的操作狀態或清潔狀態傳送到終端設備300。 When the cleaning of the designated area is set, the controller 200 may store the cleaning record in the data unit. In addition, the controller 200 may transmit the operation state or the cleaning state of the mobile robot 1 to the terminal device 300 at a certain time interval through the communication unit.
基於從移動式機器人1接收的資料，終端設備300可以將移動式機器人的位置與地圖一起顯示在正在執行的應用程式的螢幕上，並且還輸出關於清潔狀態的資訊。終端設備300可以根據該設定在螢幕上顯示使用者地圖或者導引地圖，並且可以透過該設定改變並顯示地圖。 Based on the data received from the mobile robot 1, the terminal device 300 can display the position of the mobile robot along with a map on the screen of the application being executed, and also output information about the cleaning status. The terminal device 300 may display a user map or a guide map on the screen according to the setting, and may change and display the map through the setting.
終端設備300可以在螢幕上顯示接收到的地圖，並且可以透過鍵入或觸控輸入分割或者合併區域來改變區域，並且可以透過改變或者增添區域的屬性來設定區域屬性。另外，終端設備可以針對特定障礙物在地圖上指定位置，並且可以將指定障礙物的相關資訊傳送給移動式機器人並將其添加到預先儲存的地圖。 The terminal device 300 can display the received map on the screen, and can change the area by dividing or merging the area by typing or touch input, and can set the area property by changing or adding the area's properties. In addition, the terminal device can specify a location on the map for a specific obstacle, and can transmit information about the specified obstacle to the mobile robot and add it to a pre-stored map.
終端設備300可以針對所顯示的地圖指定與鍵入或觸控輸入相對應的清潔區域、設定清潔順序、並向移動式機器人傳送清潔指令。另外，終端設備300可以基於從移動式機器人接收到的資料，在顯示的地圖(使用者地圖和導引地圖)上顯示清潔狀態。當添加關於障礙物的資訊時，終端設備可以基於接收到的資料更新並顯示地圖。 The terminal device 300 may specify a cleaning area corresponding to a key-in or a touch input for the displayed map, set a cleaning sequence, and transmit a cleaning instruction to the mobile robot. In addition, the terminal device 300 may display the cleaning status on the displayed map (user map and guide map) based on the data received from the mobile robot. When adding information about obstacles, the terminal device can update and display the map based on the received information.
另外，當通過充電座的返回訊號檢測到充電座59時，控制器200可以識別移動式機器人的目前位置，並且基於移動式機器人的目前位置計算和儲存充電座的位置。控制器200可以將充電座的位置設定為在地圖上顯示。 In addition, when the charging base 59 is detected by the return signal of the charging base, the controller 200 can identify the current position of the mobile robot, and calculate and store the position of the charging base based on the current position of the mobile robot. The controller 200 may set the position of the charging stand to be displayed on a map.
圖6和圖7為用於說明根據本發明一實施例由移動式機器人產生地圖的方法的視圖。如圖6所示，當沒有儲存地圖或者執行初始操作時，移動式機器人1可以透過沿著牆壁等方式在清潔區域中行進以產生地圖。另外，移動式機器人1可以在沒有地圖的情況下執行清潔區域的清潔，並且可以透過獲取的障礙物資訊來產生地圖。 6 and 7 are views for explaining a method of generating a map by a mobile robot according to an embodiment of the present invention. As shown in FIG. 6, when a map is not stored or an initial operation is performed, the mobile robot 1 may generate a map by traveling in a clean area along a wall or the like. In addition, the mobile robot 1 can perform cleaning of a cleaning area without a map, and can generate a map through the obtained obstacle information.
如圖6的(a)部分所示，在行進期間，地圖產生單元220可以基於從障礙物檢測單元100和感測器單元150輸入的地圖資料以及障礙物識別單元210的障礙物資訊來產生地圖。 As shown in part (a) of FIG. 6, during the travel, the map generating unit 220 may generate a map based on the map data input from the obstacle detection unit 100 and the sensor unit 150 and the obstacle information of the obstacle recognition unit 210. .
地圖產生單元220可以產生一個藉由沿著清潔區域的牆壁的輪廓所構成的基本地圖A1。由於基本地圖是以整個區域的輪廓的形式實現的，所以該區域未被劃分。如圖6的(b)部分所示，地圖產生單元220可以將基本地圖A1劃分為複數個區域A11至A17，並產生清潔地圖，亦即，區域被劃分的地圖。 The map generating unit 220 may generate a basic map A1 constituted by the outline of the wall along the cleaning area. Since the base map is implemented as an outline of the entire area, the area is not divided. As shown in part (b) of FIG. 6, the map generating unit 220 may divide the basic map A1 into a plurality of areas A11 to A17 and generate a clean map, that is, a map in which the areas are divided.
地圖產生單元220可以從基本地圖A1中分離出一定尺寸或更小的小區域，並設定一定尺寸或更大的代表區域。地圖產生單元220可以透過形態學操作，透過基本地圖的侵蝕和擴大以分離小區域來設定代表性區域。地圖產生單元220可以將某種類型的構成要素設定為要處理的影像，亦即，基本地圖，透過將構成要素完全包括在影像的區域中來執行侵蝕操作，並可以透過將構成要素的一部分包括在影像的區域中來執行擴大操作。根據構成元件的設定和影像區域，可以改變侵蝕和擴張的形式。 The map generating unit 220 may separate a small area of a certain size or smaller from the basic map A1 and set a representative area of a certain size or larger. The map generating unit 220 may set a representative area through a morphological operation, through erosion and expansion of the basic map to separate small areas. The map generating unit 220 may set a certain type of constituent element as an image to be processed, that is, a basic map, perform an erosion operation by completely including the constituent element in an area of the image, and may include a part of the constituent element by including Perform an enlargement operation in the area of the image. The form of erosion and expansion can be changed according to the settings of the constituent elements and the image area.
地圖產生單元220可以為剩餘的小區域設定用於減去代表性區域的細節區域。由於細節區域是連接代表區域或連接到附屬於代表區域的區域，所以地圖產生單元220可以透過將每一個細節區域合併成任何一個代表區域來重置該區域。地圖產生單元220可以基於諸如與每一個代表性區域的連接、連接點(節點)的數量、距離等的關聯，將細節區域合併到任何一個代表區域中。另外，當細節區域B是特定尺寸或更大時，地圖產生單元220可以將細節區域設定為單獨的區域。 The map generating unit 220 may set a detail area for subtracting the representative area for the remaining small areas. Since the detail area is connected to the representative area or to an area affiliated with the representative area, the map generating unit 220 can reset each area by merging each detail area into any one representative area. The map generating unit 220 may merge the detailed area into any one of the representative areas based on an association such as a connection with each representative area, the number of connection points (nodes), distance, and the like. In addition, when the detail area B is a specific size or larger, the map generating unit 220 may set the detail area as a separate area.
因此，地圖產生單元220可以將細節區域合併到代表區域中，由此產生劃分區域的清潔地圖。地圖產生單元220可以透過將細節區域合併到代表區域中來劃分多個區域，然後對應於每一個代表區域與其他區域接觸的接觸點數量以及該區域的尺寸設定一主區域、一房間與其他區域。該主要區域設定為起居室。 Therefore, the map generating unit 220 may merge the detail area into the representative area, thereby generating a clean map of the divided area. The map generating unit 220 may divide a plurality of areas by merging the detail area into the representative area, and then set a main area, a room, and other areas corresponding to the number of contact points of each representative area and other areas and the size of the area . This main area is set as a living room.
此外，地圖產生單元220可以基於主要區域來設定複數個區域的屬性。地圖產生單元220可以根據其大小或形狀將除了主要區域之外的剩餘區域設定為房間或其他區域。 In addition, the map generating unit 220 may set attributes of a plurality of areas based on the main area. The map generating unit 220 may set the remaining area other than the main area as a room or other area according to its size or shape.
如圖7的(a)部分所示，地圖產生單元220可以產生清潔地圖，然後處理區域的形狀，使得使用者可以容易地識別該區域。地圖產生單元220可以簡化區域的形狀，佈置小區域或障礙物，並且擴大或者刪除該區域。地圖產生單元220可以根據區域的屬性以特定形狀來處理區域的形狀。例如，地圖產生單元220可以將房間處理成方形。 As shown in part (a) of FIG. 7, the map generating unit 220 may generate a clean map and then process the shape of the area so that the user can easily identify the area. The map generating unit 220 may simplify the shape of an area, arrange a small area or an obstacle, and expand or delete the area. The map generating unit 220 may process the shape of the area in a specific shape according to the attributes of the area. For example, the map generating unit 220 may process the room into a square.
地圖產生單元220可以透過處理來自清潔地圖的區域的形狀來產生使用者地圖。地圖產生單元220可以根據區域的屬性以特定形狀處理地圖，並且根據障礙物的大小來修改該區域的形狀。 The map generating unit 220 may generate a user map by processing the shape of the area from the clean map. The map generating unit 220 may process the map in a specific shape according to the attributes of the area, and modify the shape of the area according to the size of the obstacle.
當障礙物位於區域中時，地圖產生單元220可以基於最外邊的線來處理區域的形狀以改變地圖的區域，使得障礙物可以被包括在該區域中。另外，當障礙物具有特定尺寸或更大尺寸時，地圖產生單元220可以減小或者刪除對應區域，以改變相對於由於障礙物而導致移動式機器人不能接近的區域的地圖面積。此外，當障礙物具有特定尺寸或更大尺寸時，地圖產生單元220可以在地圖上顯示障礙物，並且可以在障礙物小於特定尺寸時從地圖上刪除障礙物。 When the obstacle is located in the area, the map generating unit 220 may process the shape of the area based on the outermost line to change the area of the map so that the obstacle may be included in the area. In addition, when the obstacle has a specific size or larger, the map generating unit 220 may reduce or delete the corresponding area to change the map area with respect to the area that the mobile robot cannot access due to the obstacle. In addition, when the obstacle has a specific size or larger, the map generating unit 220 may display the obstacle on the map, and may delete the obstacle from the map when the obstacle is smaller than the specific size.
地圖產生單元220可以根據區域的屬性以不同的偏差來處理區域的形狀。當該區域是房間時，地圖產生單元220可以將該區域的形狀處理成矩形形狀。因為在作為主要區域的起居室中存在多個障礙物，所以地圖產生單元220可以用多邊形的形式處理與輪廓和小型障礙物對應的區域的形狀。考慮到障礙物的大小，地圖產生單元220可以處理區域的形狀，使得該區域的輪廓可以變成直線。 The map generating unit 220 may process the shape of the area with different deviations according to the attributes of the area. When the area is a room, the map generating unit 220 may process the shape of the area into a rectangular shape. Since there are a plurality of obstacles in the living room as the main area, the map generating unit 220 may process the shape of the area corresponding to the outline and the small obstacle in the form of a polygon. Considering the size of the obstacle, the map generating unit 220 can process the shape of the area so that the outline of the area can become a straight line.
地圖產生單元220可以在處理區域形狀之後透過應用視覺效果來產生由複數個區域A31至A37組成的使用者地圖。在使用者地圖中，複數個區域可以以不同的顏色顯示，並且可以顯示每一個區域的名稱。在使用者地圖中，根據區域的屬性，相同屬性的區域可以以相同顏色顯示。另外，關於特定障礙物的資訊可以以影像、圖示、表情符號、特殊字符等的形式顯示在使用者地圖中。另外，地圖產生單元220可以根據區域的屬性將使用者地圖的複數個區域A31至A37設定為具有特定形狀，並且可以細分一個區域並設定其他區域，如圖8所示。 The map generating unit 220 may generate a user map composed of a plurality of areas A31 to A37 by applying visual effects after processing the shape of the area. In the user map, multiple areas can be displayed in different colors, and the name of each area can be displayed. In the user map, areas with the same attributes can be displayed in the same color according to the attributes of the regions. In addition, information about specific obstacles can be displayed on the user map in the form of images, icons, emojis, special characters, and the like. In addition, the map generating unit 220 may set a plurality of areas A31 to A37 of the user map to have a specific shape according to the attributes of the area, and may subdivide one area and set other areas, as shown in FIG. 8.
如圖7的(b)部分所示，地圖產生單元220可以產生包含複數個區域A21至A27的導引地圖，其中清潔地圖與使用者地圖被疊加且顯示。可以在清潔地圖的小型障礙物被移除的同時顯示導引地圖。 As shown in part (b) of FIG. 7, the map generating unit 220 may generate a guide map including a plurality of areas A21 to A27, in which a clean map and a user map are superimposed and displayed. The guide map can be displayed while small obstacles to clean the map are removed.
移動式機器人1可以將產生的地圖(即，清潔地圖、導引地圖和使用者地圖)儲存在資料單元280中，並且將使用者地圖和導引地圖傳送到外部裝置諸如：遙控器、終端設備300、控制器等。 The mobile robot 1 may store the generated maps (ie, a clean map, a guide map, and a user map) in the data unit 280, and transmit the user map and the guide map to an external device such as a remote controller, a terminal device 300, controller and so on.
圖8和圖9為說明在根據本發明一實施例之移動式機器人中產生地圖的示例圖。如圖8和圖9所示，終端設備300可以執行用於控制移動式機器人1的程式或應用程式，並且將所接收和儲存的地圖(即，使用者地圖或導引地圖)顯示在螢幕上。 8 and 9 are diagrams illustrating examples of generating a map in a mobile robot according to an embodiment of the present invention. As shown in FIGS. 8 and 9, the terminal device 300 may execute a program or application for controlling the mobile robot 1 and display the received and stored map (ie, a user map or a guide map) on the screen .
複數個分割區域A41至A50可以在使用者地圖或導引地圖中不同地顯示，並且可以根據區域的屬性顯示顏色或者顯示區域的名稱。此外，可以顯示區域的屬性，並且可以用相同的顏色顯示相同屬性的區域。如圖所示，在上述圖7(a)的使用者地圖中，區域可以被細分，並且可以進一步設定其他區域，且除此之外，區域可以被終端設備300修改。 The plurality of divided areas A41 to A50 may be displayed differently in a user map or a guide map, and may display colors or display names according to the attributes of the area. In addition, the attributes of the region can be displayed, and the regions of the same attribute can be displayed in the same color. As shown in the figure, in the above-mentioned user map of FIG. 7 (a), the area can be subdivided, and other areas can be further set, and in addition, the area can be modified by the terminal device 300.
終端設備300可以顯示諸如圖8中之使用者地圖或圖9中之導引地圖之類的地圖，在地圖上顯示障礙物的位置，並且依據障礙物的類型顯示障礙物的影像、圖示、表情符號。終端設備300在地圖上顯示充電座59的圖示。 The terminal device 300 may display a map such as the user map in FIG. 8 or the guide map in FIG. 9, display the location of the obstacle on the map, and display the image, icon, Emoticons. The terminal device 300 displays an icon of the charging stand 59 on a map.
當針對所顯示的使用者地圖或導引地圖輸入清潔指令時，終端設備300可以將輸入的清潔指令傳送給移動式機器人1。然後，移動式機器人可以根據接收到的清潔指令移動到指定區域，並且基於清潔地圖執行清潔。移動式機器人1可以將基於使用者地圖或導引地圖輸入的清潔指令匹配到清潔地圖並判斷指定區域。 When a cleaning instruction is input for the displayed user map or guide map, the terminal device 300 may transmit the input cleaning instruction to the mobile robot 1. Then, the mobile robot may move to a designated area according to the received cleaning instruction, and perform cleaning based on the cleaning map. The mobile robot 1 can match a cleaning instruction input based on a user map or a guide map to a cleaning map and determine a designated area.
移動式機器人1和終端設備300可以儲存相同的地圖，並且當地圖在一側改變時，改變的數據可以被傳送到另一側，從而地圖可以被更新。 The mobile robot 1 and the terminal device 300 can store the same map, and when the local map is changed on one side, the changed data can be transmitted to the other side, so that the map can be updated.
圖10為說明根據本發明一實施例之虛擬牆設定的示例圖。如圖10所示，終端設備300可以在螢幕上顯示從移動式機器人1接收到的地圖。終端設備300可以包括資料單元，用於儲存控制移動式機器人的程式或應用程式和接收到的資料；輸入單元，包含鍵入單元或觸控輸入單元；以及顯示單元，用於顯示資料。終端設備可以包括觸控螢幕，具有觸控輸入單元和顯示單元的互容層結構。 FIG. 10 is a diagram illustrating an example of a virtual wall setting according to an embodiment of the present invention. As shown in FIG. 10, the terminal device 300 may display a map received from the mobile robot 1 on the screen. The terminal device 300 may include a data unit for storing programs or applications controlling the mobile robot and received data; an input unit including a typing unit or a touch input unit; and a display unit for displaying data. The terminal device may include a touch screen with a mutual capacitance layer structure of a touch input unit and a display unit.
複數個區域A41至A50可以在導引地圖中分開顯示，並且可以疊加及顯示使用者地圖的輪廓L1和清潔地圖的輪廓L2。 The plurality of areas A41 to A50 can be displayed separately in the guide map, and the outline L1 of the user map and the outline L2 of the clean map can be superimposed and displayed.
終端設備300可以回應使用者的輸入，在螢幕顯示的地圖上(例如導引地圖上)設定虛擬牆。儘管終端設備300可以在使用者地圖上設定虛擬牆，但是較佳將虛擬牆60設定在導引地圖中，其中顯示移動式機器人可行進的區域。終端設備300可以回應使用者輸入來設定連接第十一點P11和第十二點P12的線形第一虛擬牆61。 The terminal device 300 may set a virtual wall on a map displayed on the screen (for example, on a navigation map) in response to a user input. Although the terminal device 300 can set the virtual wall on the user map, it is preferable to set the virtual wall 60 in the guide map, which displays the area where the mobile robot can enter. The terminal device 300 may set a linear first virtual wall 61 connecting the eleventh point P11 and the twelfth point P12 in response to a user input.
另外，回應使用者輸入，終端設備300可以設定連接第二十一點P21到第二十四點P24的多邊形的第二虛擬牆62。終端設備300可以根據觸控點的 數量、觸控的數量、拖曳的方向以及拖曳的形狀，並針對特定點的觸控、觸控之後拖曳、以及多點觸控以回應使用者輸入(如觸控輸入)設定虛擬牆60。 In addition, in response to a user input, the terminal device 300 may set a polygonal second virtual wall 62 connecting the twenty-first point P21 to the twenty-fourth point P24. The terminal device 300 may respond to user input (such as touch, etc.) based on the number of touch points, the number of touches, the direction of the drag, and the shape of the drag, and the touch of a specific point, drag after touch, and multi-touch. Control input) to set the virtual wall 60.
虛擬牆60可以被設定為點、線和面的形式，並且面可以被設定成多邊形、圓形或任意形狀(例如：心形、星形)。如圖所示，當虛擬牆60、61和62被設定在導引地圖中時，終端設備300可以將虛擬牆的資料傳送到移動式機器人1。 The virtual wall 60 may be set in the form of points, lines, and faces, and the faces may be set into a polygon, a circle, or an arbitrary shape (for example, a heart shape, a star shape). As shown in the figure, when the virtual walls 60, 61, and 62 are set in the guide map, the terminal device 300 can transmit the data of the virtual wall to the mobile robot 1.
移動式機器人1可以將接收到的虛擬牆資料與清潔地圖配對，判斷虛擬牆的位置，並且設定虛擬牆，使得障礙物存在於對應的位置。移動式機器人1可以將虛擬牆的位置計算為座標，並判斷地圖上的位置以及實際清潔區域的位置，以設定虛擬牆。移動式機器人1可以將虛擬牆設定在比接收到的虛擬牆資料更寬的範圍內。 The mobile robot 1 can pair the received virtual wall data with a clean map, determine the position of the virtual wall, and set the virtual wall so that obstacles exist at corresponding positions. The mobile robot 1 can calculate the position of the virtual wall as a coordinate, and determine the position on the map and the position of the actual cleaning area to set the virtual wall. The mobile robot 1 can set the virtual wall in a wider range than the received virtual wall data.
移動式機器人1可以將虛擬牆60識別為障礙物，即便在行進期間不存在物理障礙物。移動式機器人1可以不接近虛擬牆60，但可以避開虛擬牆60。 The mobile robot 1 can recognize the virtual wall 60 as an obstacle even if there are no physical obstacles during traveling. The mobile robot 1 may not be close to the virtual wall 60, but may avoid the virtual wall 60.
當如圖所示設定第一虛擬牆61時，移動式機器人1可以不移動到第四十六區域A46至第四十八區域A48。另外，由於第二虛擬牆62，移動式機器人1可以不接近相對於作為主要區域的客廳A41的第二虛擬牆62的區域，但是可以在其他區域行進以執行清潔。 When the first virtual wall 61 is set as shown in the figure, the mobile robot 1 may not move to the forty-sixth area A46 to the forty-eighth area A48. In addition, due to the second virtual wall 62, the mobile robot 1 may not approach the area of the second virtual wall 62 with respect to the living room A41 as a main area, but may travel in other areas to perform cleaning.
終端設備300可以如下回應使用者輸入來設定虛擬牆。圖11為用於說明根據本發明一實施例以線的形式設定虛擬牆的方法的視圖；圖12為用於說明根據本發明一實施將虛擬牆設定為一區域的方法的視圖；圖13為用於說明根據本發明一實施例設定圓形虛擬牆的方法的視圖；圖14為用於說明根據本發明一實施例透過拖曳設定虛擬牆的方法的視圖；以及圖15為用於說明根據本發明一實施例透過多點觸控設定虛擬牆的方法的視圖。 The terminal device 300 may set a virtual wall in response to a user input as follows. 11 is a view for explaining a method for setting a virtual wall in a line form according to an embodiment of the present invention; FIG. 12 is a view for explaining a method for setting a virtual wall as an area according to an embodiment of the present invention; FIG. 13 is A view for explaining a method for setting a circular virtual wall according to an embodiment of the present invention; FIG. 14 is a view for explaining a method for setting a virtual wall by dragging according to an embodiment of the present invention; and FIG. 15 is a view for explaining a method according to the present invention View of a method for setting up a virtual wall through multi-touch according to an embodiment of the invention.
如圖11的(a)部分所示，當導引地圖顯示在螢幕上時，當使用者在螢幕上觸控第三十一點P31之後拖曳到第三十二點P32，終端設備300可以將第三虛擬牆63設定為連接第三十一點P31和第三十二點P32的線形，如圖11的(c)部分所示。當從第三十一點到第三十二點以曲線形式進行拖曳時，終端設備300可以設定彎曲的虛擬牆。 As shown in part (a) of FIG. 11, when the navigation map is displayed on the screen, when the user touches 31st point P31 on the screen and drags to 32nd point P32, the terminal device 300 can The third virtual wall 63 is set in a line shape connecting the thirty-first point P31 and the thirty-second point P32, as shown in part (c) of FIG. 11. When dragging in a curved form from the thirty-first point to the thirty-second point, the terminal device 300 may set a curved virtual wall.
如圖11的(b)部分所示，當導引地圖顯示在螢幕上時，當使用者在螢幕上觸控第三十一點P31之後觸控第三十二點P32，終端設備300可以將第三虛擬牆63設定為連接第三十一點P31和第三十二點P32的線形，如圖11(c)所示。 As shown in part (b) of FIG. 11, when the navigation map is displayed on the screen, when the user touches the thirty-first point P31 on the screen and then touches the thirty-second point P32, the terminal device 300 can The third virtual wall 63 is set in a line shape connecting the thirty-first point P31 and the thirty-second point P32, as shown in FIG. 11 (c).
如圖12的(a)部分所示，當使用者在觸控第四十一點P41之後往第四十二點P42拖曳，改變拖曳方向往第四十三點P43後，再次改變拖曳方向往第四十四點P44，然後改變方向往第四十一點P41拖曳，則終端設備300可以根據拖曳的形狀設定第四虛擬牆64。 As shown in part (a) of FIG. 12, when the user drags to the forty-second point P42 after touching the forty-first point P41, changes the dragging direction to the forty-third point P43, and then changes the dragging direction again Forty-fourth point P44, then change the direction and drag toward forty-first point P41, and the terminal device 300 can set the fourth virtual wall 64 according to the shape of the drag.
因此，可以在地圖上設定矩形虛擬牆，如圖12的(c)所示。另外，如圖12的(b)部分所示，當分別觸控第四十一點P41至第四十四點P44時，終端設備300可以連接所觸控的點，並且可以設定矩形形狀的第四虛擬牆64，如圖12的(c)部分所示。終端設備300可以回應觸控輸入連接複數個觸控點，或者根據觸控之後的拖曳方向在地圖上設定虛擬牆。 Therefore, a rectangular virtual wall can be set on the map, as shown in FIG. 12 (c). In addition, as shown in part (b) of FIG. 12, when the forty-first point P41 to the forty-fourth point P44 are touched, the terminal device 300 can connect the touched points, and can set a rectangular shaped first Four virtual walls 64, as shown in part (c) of FIG. The terminal device 300 may connect a plurality of touch points in response to a touch input, or set a virtual wall on the map according to a dragging direction after the touch.
如圖13的(a)部分所示，在觸控第四十五點P45之後，當以圓形進行拖曳以回應觸控輸入時，終端設備300可以設定圓形虛擬牆65，如圖13的(b)部分所示。終端設備300不僅可以設定圓形的虛擬牆，而且可以設定橢圓形的虛擬牆，並且可以根據拖曳的方向來設定任意形狀的虛擬牆。 As shown in part (a) of FIG. 13, after touching the forty-fifth point P45, when dragging in a circle in response to a touch input, the terminal device 300 can set a circular virtual wall 65, as shown in FIG. 13 (b). The terminal device 300 can set not only a circular virtual wall but also an oval virtual wall, and can set a virtual wall of any shape according to a dragging direction.
如圖14的(a)部分所示，當使用者在螢幕上觸控第四十六點P46之後拖曳到第四十七點P47時，當第四十六點P46和第四十七點P47是對角線時，終端設備300可以設定具有矩形外型的虛擬牆66，如圖14的(b)部分所示。終端設備300可以透過觸控方法或選單設定產生不同類型的虛擬牆，以與前述圖11的線形虛擬牆區隔。例如，終端設備300可以在執行一次觸控之後完成拖曳而以線的形式設定虛擬牆，也可以在執行兩次觸控後完成對角線方向的拖曳，以設定矩形虛擬牆。另外，終端設備300可以根據透過選單設定的觸控形式產生預先指定的虛擬牆形狀。 As shown in part (a) of FIG. 14, when the user drags to the forty-seventh point P47 after touching the forty-sixth point P46 on the screen, when the forty-sixth point P46 and the forty-seventh point P47 When it is a diagonal line, the terminal device 300 may set a virtual wall 66 having a rectangular shape, as shown in part (b) of FIG. 14. The terminal device 300 may generate different types of virtual walls through a touch method or a menu setting to distinguish the virtual wall from the linear virtual wall of FIG. 11 described above. For example, the terminal device 300 may complete dragging after performing one touch and set the virtual wall in the form of a line, or may perform dragging in a diagonal direction after performing two touches to set a rectangular virtual wall. In addition, the terminal device 300 may generate a pre-designated virtual wall shape according to a touch mode set through a menu.
如圖15的(a)部分所示，當輸入多點觸控時，根據多點觸控方向，終端設備300可以設定如圖15的(b)部分所示的線形虛擬牆67a，或設定如圖15的(c)部分所示的矩形虛擬牆67b。 As shown in part (a) of FIG. 15, when multi-touch is input, the terminal device 300 can set the linear virtual wall 67a as shown in part (b) of FIG. 15 according to the direction of multi-touch, or set as A rectangular virtual wall 67b shown in part (c) of FIG. 15.
圖16為用於說明根據本發明一實施例之移動式機器人系統的移動虛擬牆的視圖。如圖16所示，終端設備300可以在地圖上移動預設虛擬牆60的位置。 FIG. 16 is a view for explaining a mobile virtual wall of a mobile robot system according to an embodiment of the present invention. As shown in FIG. 16, the terminal device 300 can move the position of the preset virtual wall 60 on the map.
如圖16的(a)部分所示，在設定了第五十一點P51與第五十二點P52之間的線形狀的第八虛擬牆68的狀態下，當第五十二點P52被觸控且往左上方拖曳時，終端設備300可以沿著拖曳的方向移動位於第五十二點P52的第八虛擬牆68的右頂點，並且將虛擬牆68改變為連接第五十一點P51和第五十三點P53的虛擬牆68a。 As shown in part (a) of FIG. 16, in a state where the eighth virtual wall 68 having a line shape between the fifty-first point P51 and the fifty-second point P52 is set, when the fifty-second point P52 is When touched and dragged to the upper left, the terminal device 300 can move the right vertex of the eighth virtual wall 68 located at the fifty-second point P52 along the dragging direction, and change the virtual wall 68 to connect to the fifty-first point P51 And the fifty-third point P53 of the virtual wall 68a.
此外，如圖16的(b)部分所示，在設定了第五十一點P51與第五十二點P52之間的第八虛擬牆68的狀態下，當該線除了左側頂點和右側頂點之外的任何一部分被觸控之後，把第八虛擬牆68往上方、下方、左方或右方中的任一方向拖曳，終端設備300可以根據第八虛擬牆68的拖曳方向改變虛擬牆68b的位置。 In addition, as shown in part (b) of FIG. 16, in a state where the eighth virtual wall 68 between the fifty-first point P51 and the fifty-second point P52 is set, when the line except the left vertex and the right vertex After any part other than the touch is touched, drag the eighth virtual wall 68 in any of the directions above, below, left or right, and the terminal device 300 may change the virtual wall 68b according to the dragging direction of the eighth virtual wall 68 s position.
圖17為用於說明根據本發明一實施例之移動式機器人系統的改變虛擬牆的視圖。終端設備300可以改變預設的第九虛擬牆69的形狀。 FIG. 17 is a view for explaining a modified virtual wall of a mobile robot system according to an embodiment of the present invention. The terminal device 300 may change the shape of the preset ninth virtual wall 69.
如圖17的(a)部分所示，在設定連接第六十一點P61到第六十四點P64之具有矩形形狀的第九虛擬牆69的狀態下，終端設備300可改變虛擬牆的形狀以回應觸控輸入。 As shown in part (a) of FIG. 17, in a state where the ninth virtual wall 69 having a rectangular shape connecting the 61st point P61 to the 64th point P64 is set, the terminal device 300 may change the shape of the virtual wall In response to touch input.
如圖17的(b)部分所示，當在第九虛擬牆69被觸控一次並被選擇之後再多點觸控第九虛擬牆時，終端設備300可以根據多點觸控與拖曳方向來擴大或縮小第九虛擬牆的尺寸。例如，當在多點觸控當下觸控點之間的距離增大時，終端設備300可以擴大第九虛擬牆以顯示擴大的第九虛擬牆69a。當兩個多點觸控點之間的距離減小時，終端設備300可以縮小第九虛擬牆以顯示縮小的虛擬牆。 As shown in part (b) of FIG. 17, when the ninth virtual wall 69 is touched once and selected, and then the ninth virtual wall is multi-touched, the terminal device 300 may be based on the multi-touch and drag directions. Expand or reduce the size of the ninth virtual wall. For example, when the distance between the touch points is increased in multi-touch, the terminal device 300 may expand the ninth virtual wall to display the enlarged ninth virtual wall 69a. When the distance between the two multi-touch points is reduced, the terminal device 300 may reduce the ninth virtual wall to display the reduced virtual wall.
如圖17的(c)部分所示，當觸控並選擇第九虛擬牆69的第六十一點P61至第六十四點P64中的任何一個(例如第六十四點P64)，然後沿著左下方拖曳時，終端設備300可以沿著拖曳方向移動第九虛擬牆的頂點，並且將虛擬牆69b改變為連接點61、62、63和69(P61、P62、P63和P69)的多邊形。 As shown in part (c) of FIG. 17, when any one of the sixty-first point P61 to the sixty-fourth point P64 (for example, the sixty-fourth point P64) is touched and selected, When dragging along the lower left, the terminal device 300 can move the vertex of the ninth virtual wall along the dragging direction, and change the virtual wall 69b to a polygon connecting points 61, 62, 63, and 69 (P61, P62, P63, and P69) .
另外，如圖17的(d)部分所示，當觸控並選擇第九虛擬牆69，然後在左上方、右上方、左下方和右下方中的任意一個方向上拖曳時，終端設備300可以旋轉並且基於樞轉點改變虛擬牆69c。當如上所述設定虛擬牆或者預設虛擬牆的位置或形狀改變時，終端設備300可以將虛擬牆的資料傳送到移動式機器人。 In addition, as shown in part (d) of FIG. 17, when the ninth virtual wall 69 is touched and selected, and then dragged in any of the upper left, upper right, lower left, and lower right directions, the terminal device 300 may Rotate and change the virtual wall 69c based on the pivot point. When the virtual wall is set or the position or shape of the preset virtual wall is changed as described above, the terminal device 300 may transmit the data of the virtual wall to the mobile robot.
圖18和圖19為用於說明根據本發明一實施例當虛擬牆被設定時移動式機器人的行進的視圖。如上所述，當終端設備在地圖上設定虛擬牆時，移動式機器人1可以基於接收到的資料判斷虛擬牆的位置，並將虛擬牆識別為實際存在的障礙物以避開虛擬牆。 18 and 19 are views for explaining the traveling of a mobile robot when a virtual wall is set according to an embodiment of the present invention. As described above, when the terminal device sets the virtual wall on the map, the mobile robot 1 can determine the position of the virtual wall based on the received data, and recognize the virtual wall as an actual obstacle to avoid the virtual wall.
如圖18所示，移動式機器人1可以將接收到的資料儲存在資料單元280中，並且行進控制器230可以分析資料，將資料與清潔地圖匹配，並將虛擬牆的位置設定在清潔地圖。另外，行進控制器230可以將在清潔地圖中設定的虛擬牆的位置設定為與實際清潔區域相對應以避開障礙物。 As shown in FIG. 18, the mobile robot 1 can store the received data in the data unit 280, and the travel controller 230 can analyze the data, match the data with the clean map, and set the position of the virtual wall on the clean map. In addition, the travel controller 230 may set the position of the virtual wall set in the cleaning map to correspond to the actual cleaning area to avoid obstacles.
當虛擬牆60設定在行進方向D1上時，移動式機器人1可以靠近虛擬牆60一定距離，然後改變行進方向(D2)(D3)以避開虛擬牆60。儘管在實際清潔區域中沒有物理性的障礙物，但是移動式機器人1可以藉由虛擬牆設定匹配清潔地圖的虛擬牆位置與清潔區域的位置，以判斷清潔地圖的虛擬牆位置的座標，從而將虛擬牆識別為障礙物以避開該障礙物。 When the virtual wall 60 is set in the traveling direction D1, the mobile robot 1 can approach the virtual wall 60 a certain distance, and then change the traveling direction (D2) (D3) to avoid the virtual wall 60. Although there are no physical obstacles in the actual cleaning area, the mobile robot 1 can use the virtual wall to set the position of the virtual wall that matches the clean map and the position of the clean area to determine the coordinates of the position of the virtual wall of the clean map. The virtual wall is identified as an obstacle to avoid it.
當接近虛擬牆60時，移動式機器人1可以基於記錄在地圖中的虛擬牆的資訊來改變行進方向，而不緊密地靠近虛擬牆或在虛擬牆周圍搜索。此時，移動式機器人1可以對虛擬牆執行沿著牆壁移動。 When approaching the virtual wall 60, the mobile robot 1 can change the direction of travel based on the information of the virtual wall recorded in the map without closely approaching or searching around the virtual wall. At this time, the mobile robot 1 can perform moving along the wall on the virtual wall.
如圖19所示，在存在實際障礙物且虛擬牆60被設定為線形的情況下，甚至在移動式機器人1不搜索虛擬牆的位置的情況下，可以基於預先記錄的資訊在障礙物與虛擬牆之間移動，並且通過Z字形行進路線D11行進以執行清潔。 As shown in FIG. 19, in the case where there is an actual obstacle and the virtual wall 60 is set to a linear shape, even when the mobile robot 1 does not search for the position of the virtual wall, the obstacle and the virtual can be based on pre-recorded information. Move between the walls, and travel through the zigzag travel route D11 to perform cleaning.
基於在地圖上設定的虛擬牆資訊，移動式機器人1可以避開虛擬牆，同時保持與虛擬牆相距一定的距離，如同存在實際的障礙物般。另外，如果輸入了該區域的清潔指令，則當虛擬牆60被設定在對應的區域中時，移動式機器人1可以考慮虛擬牆60的位置來設定行進路線以執行清潔。 Based on the virtual wall information set on the map, the mobile robot 1 can avoid the virtual wall while maintaining a certain distance from the virtual wall, as if there were actual obstacles. In addition, if a cleaning instruction for the area is input, when the virtual wall 60 is set in the corresponding area, the mobile robot 1 may set a travel route to perform cleaning in consideration of the position of the virtual wall 60.
圖20為說明根據本發明一實施例一組虛擬牆運用於某清潔區域的示例圖。如圖20所示，當移動式機器人1從終端設備300接收到虛擬牆的資料時，可以判斷由終端設備設定的第十一虛擬牆到第十三虛擬牆(71到73)的位置，並設定第十四虛擬牆到第十六虛擬牆(71a到73a)的範圍寬於設定的虛擬牆。 FIG. 20 is a diagram illustrating an example in which a set of virtual walls is applied to a cleaning area according to an embodiment of the present invention. As shown in FIG. 20, when the mobile robot 1 receives the data of the virtual wall from the terminal device 300, it can determine the position of the eleventh virtual wall to the thirteenth virtual wall (71 to 73) set by the terminal device, and The range from the fourteenth virtual wall to the sixteenth virtual wall (71a to 73a) is set wider than the set virtual wall.
地圖產生單元220可以先針對終端設備設定的第十一虛擬牆至第十三虛擬牆判斷在清潔地圖上的位置，然後擴大虛擬牆以在清潔區域中設定第十四虛擬牆至第十六虛擬牆，且將其作為障礙物記錄在清潔地圖中。行進控制 器230可以基於清潔地圖行進以執行清潔，並且相對於被設定為障礙物的虛擬牆控制行進以不接觸虛擬牆。 The map generating unit 220 may first determine the location on the clean map for the eleventh to thirteenth virtual walls set by the terminal device, and then expand the virtual wall to set the fourteenth to sixteenth virtual walls in the clean area. Wall and record it as an obstacle in the clean map. The travel controller 230 may travel based on the cleaning map to perform cleaning, and control the travel so as not to contact the virtual wall with respect to the virtual wall set as an obstacle.
當本體10正在行進時，在接近虛擬牆一定距離之後避開虛擬牆以執行清潔的過程中，移動式機器人1可以基於比所設定的虛擬牆更大地擴張的虛擬牆來控制行進，使得本體10可以不接觸虛擬牆，或是可以防止本體的一部分侵入虛擬牆。 When the ontology 10 is traveling, in the process of avoiding the virtual wall to perform cleaning after approaching the virtual wall for a certain distance, the mobile robot 1 can control the traveling based on the virtual wall that expands more than the set virtual wall, so that the ontology 10 The virtual wall may not be touched, or a part of the ontology may be prevented from intruding into the virtual wall.
圖21為說明根據本發明一實施藉由虛擬牆控制移動式機器人的方法的流程圖。如圖21所示，當虛擬牆經由終端設備300(S310)設定時，終端設備可以將虛擬牆的資料傳送到移動式機器人1。 FIG. 21 is a flowchart illustrating a method for controlling a mobile robot through a virtual wall according to an embodiment of the present invention. As shown in FIG. 21, when the virtual wall is set via the terminal device 300 (S310), the terminal device can transmit the data of the virtual wall to the mobile robot 1.
移動式機器人1可以分析接收到的資料並且將虛擬牆的位置設定在清潔地圖上(S320)。移動式機器人1可以擴張由終端設備300設定的虛擬牆，以設定虛擬牆的位置。地圖產生單元220可以將清潔地圖中的虛擬牆記錄為障礙物。 The mobile robot 1 can analyze the received data and set the position of the virtual wall on the clean map (S320). The mobile robot 1 can expand the virtual wall set by the terminal device 300 to set the position of the virtual wall. The map generating unit 220 may record the virtual wall in the clean map as an obstacle.
移動式機器人1可以相對於設定的虛擬牆計算對應於清潔區域的座標(S330)。地圖產生單元可以相對於虛擬牆計算對應於清潔區域的座標，並將座標輸入到行進控制器。 The mobile robot 1 may calculate the coordinates corresponding to the cleaning area with respect to the set virtual wall (S330). The map generating unit may calculate the coordinates corresponding to the clean area with respect to the virtual wall, and input the coordinates to the travel controller.
當輸入清潔指令時，移動式機器人1可以根據清潔設定開始清潔(S340)。移動式機器人1可以在移動到指定區域之前判斷本體10的目前位置(S350)。位置識別單元240可以分析輸入的獲取影像並將獲取影像與先前儲存的清潔地圖的資訊進行比較以判斷目前位置。 When a cleaning instruction is input, the mobile robot 1 may start cleaning according to the cleaning setting (S340). The mobile robot 1 can determine the current position of the main body 10 before moving to a designated area (S350). The position recognition unit 240 may analyze the input acquired image and compare the acquired image with the previously stored information of the clean map to determine the current position.
當可以檢查目前位置時，位置識別單元240可以在儲存的清潔地圖上設定本體10的位置。行進控制器230可以基於目前位置控制行進驅動單元250移動到指定區域。 When the current position can be checked, the position recognition unit 240 can set the position of the body 10 on the stored clean map. The travel controller 230 may control the travel drive unit 250 to move to a designated area based on the current position.
行進控制器230可以基於從地圖產生單元220輸入的座標控制行進並避開虛擬牆(S360)。即使障礙物識別單元透過分析從障礙物檢測單元100輸入的獲取影像判斷並不存在障礙物，行進控制器230也可以基於虛擬牆的座標識別為存在障礙物，並且可以控制行進驅動單元250避開虛擬牆。行進控制器230可以基於清潔地圖進行控制以實現行進並控制清潔單元260。 The travel controller 230 may control the travel and avoid the virtual wall based on the coordinates input from the map generating unit 220 (S360). Even if the obstacle recognition unit judges that there is no obstacle by analyzing the acquired image input from the obstacle detection unit 100 through analysis, the travel controller 230 may recognize that there is an obstacle based on the coordinates of the virtual wall, and may control the travel driving unit 250 to avoid Virtual wall. The travel controller 230 may control based on the cleaning map to implement travel and control the cleaning unit 260.
在行進過程中，障礙物識別單元210可以基於從障礙物檢測單元100輸入的獲取影像來檢測障礙物(S370)。當基於障礙物識別單元210的障礙 物資訊檢測到未在清潔地圖中記錄的障礙物時，地圖產生單元220可將障礙物的位置記錄在清潔地圖中以更新(S380)。 During the traveling process, the obstacle recognition unit 210 may detect an obstacle based on the acquired image input from the obstacle detection unit 100 (S370). When obstacles not recorded in the cleaning map are detected based on the obstacle information of the obstacle identification unit 210, the map generating unit 220 may record the positions of the obstacles in the cleaning map to update (S380).
行進控制器230可以在行進期間檢查電池的剩餘量，並且在清潔地圖上判斷充電座59的位置，以在需要充電時能夠返回充電座。地圖產生單元220可以基於障礙物資訊來更新清潔地圖，並且基於清潔地圖更新使用者地圖和導引地圖(S380)。 The travel controller 230 may check the remaining amount of the battery during travel, and judge the position of the charging stand 59 on the cleaning map so as to be able to return to the charging stand when charging is required. The map generating unit 220 may update the clean map based on the obstacle information, and update the user map and the guide map based on the clean map (S380).
控制器200可以透過通訊單元270將與更新的使用者地圖和導引地圖有關的地圖資訊傳送到終端設備300(S390)。因此，終端設備300可以基於接收到的資料更新並顯示在螢幕上顯示的地圖，即使用者地圖或導引地圖。 The controller 200 may transmit the map information related to the updated user map and guide map to the terminal device 300 through the communication unit 270 (S390). Therefore, the terminal device 300 can update and display a map displayed on the screen, that is, a user map or a guide map based on the received data.
同時，當透過位置識別單元240不能檢查目前位置時，移動式機器人1可從目前位置行進並產生新的地圖(S400)。障礙物檢測單元100可以輸入前側的獲取影像，並且障礙物識別單元210可以分析獲取影像以判斷障礙物的位置和形狀。地圖產生單元220可以基於由障礙物識別單元210的障礙物資訊產生清潔區域的地圖。 Meanwhile, when the current position cannot be checked through the position recognition unit 240, the mobile robot 1 can travel from the current position and generate a new map (S400). The obstacle detection unit 100 may input the acquired image on the front side, and the obstacle recognition unit 210 may analyze the acquired image to determine the position and shape of the obstacle. The map generating unit 220 may generate a map of a clean area based on the obstacle information by the obstacle recognition unit 210.
地圖產生單元220可以初始化預設的虛擬牆(S410)，並將障礙物資訊和新產生的地圖資訊傳送到終端設備300(S420)。終端設備可以回應接收到的地圖資訊在螢幕上輸出新的使用者地圖和導引地圖。 The map generating unit 220 may initialize a preset virtual wall (S410), and transmit obstacle information and newly generated map information to the terminal device 300 (S420). The terminal device can output new user maps and navigation maps on the screen in response to the received map information.
移動式機器人1可以基於新地圖在清潔區域中行進並執行清潔(S430)。當透過終端設備300設定新的虛擬牆時，虛擬牆的位置可以如上所述來記錄，並且可以避開虛擬牆進行清潔。 The mobile robot 1 may travel and perform cleaning in a cleaning area based on a new map (S430). When a new virtual wall is set through the terminal device 300, the position of the virtual wall can be recorded as described above, and the virtual wall can be avoided for cleaning.
因此，本發明移動式機器人1可以基於檢測到的障礙物資訊產生地圖，並且基於產生的地圖執行清潔。終端設備可以設定虛擬牆以限制移動式機器人1在產生的地圖中的行進，並且移動式機器人1可以基於設定在地圖上的虛擬牆的資訊來避開虛擬牆，即使移動式機器人1並未緊靠虛擬牆。因此，移動式機器人能夠行進而不會非必要地搜索虛擬牆，並且可以有效地控制移動式機器人的行進。 Therefore, the mobile robot 1 of the present invention can generate a map based on the detected obstacle information, and perform cleaning based on the generated map. The terminal device can set a virtual wall to limit the travel of the mobile robot 1 in the generated map, and the mobile robot 1 can avoid the virtual wall based on the information of the virtual wall set on the map, even if the mobile robot 1 is not tight. Leaning against a virtual wall. Therefore, the mobile robot can travel without searching for a virtual wall unnecessarily, and can effectively control the travel of the mobile robot.
以上，雖然已經參照示例性實施例和附圖描述了本發明，但是本發明不限於此，而是可以由本發明所屬領域的技術人員在不背離在以下申請專利範圍中主張的本發明的精神和範疇下進行各種修改與置換。 Above, although the present invention has been described with reference to the exemplary embodiments and the accompanying drawings, the present invention is not limited thereto, but may be made by those skilled in the art to which the present invention pertains without departing from the spirit and scope of the present invention claimed in the scope of the following patent applications. Various modifications and replacements are made under the category.
應當理解的是，當元件或層被稱為「在」另一元件或層上時，該元件或層可以直接在另一元件或層上或中間元件或層上。相反地，當元件被稱為「直接」在另一元件或層上時，則不存在中間元件或層。如本說明書所使用的，術語「及/或」包括一個或多個相關所列項目的任何和所有組合。 It will be understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element or layer or intervening element or layer. In contrast, when an element is referred to as being "directly on" another element or layer, there are no intervening elements or layers present. As used in this specification, the term "and / or" includes any and all combinations of one or more of the associated listed items.
應當理解的是，雖然這裡可以使用術語第一、第二、第三等來描述各種元件、部件、區域、層及/或部分，但是這些元件、部件、區域、層及/或部分不應受這些術語的限制。這些術語僅用於區別一個元件、組件、區域、層或部分與另一個區域、層或部分。因此，在不脫離本發明的教示的情況下，第一元件、組件、區域、層或部分可以被稱為第二元件、組件、區域、層或部分。 It should be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be affected Limitations of these terms. These terms are only used to distinguish one element, component, region, layer or section from another region, layer or section. Thus, a first element, component, region, layer or section may be termed a second element, component, region, layer or section without departing from the teachings of the present invention.
為了便於描述，可以在這裡使用諸如「較低」、「較高」等的空間相關術語來描述如圖中所示的一(多)個元件或特徵與另一(多)個元件或特徵的關係。應當理解的是，除了圖中所示的方向之外，空間相對術語還意圖包括裝置在使用或操作中的不同方向。例如，如果附圖中的裝置被翻轉，則被描述為相對於其他元件或特徵「較低」的元件相對於其他元件或特徵將被導向為「較高」。因此，示例性術語「較低」可以涵蓋上方和下方的方位。裝置可以以其他方式定向(旋轉90度或在其他方向)，並且據以解釋在此使用的空間相對描述符號。 For ease of description, spatially related terms such as "lower", "higher", etc. may be used here to describe the relationship between one (multiple) element or feature as shown in the figure and another (multiple) element or feature. relationship. It should be understood that, in addition to the directions shown in the figures, spatially relative terms are intended to include different directions of the device in use or operation. For example, if the device in the figures is turned over, elements described as "lower" relative to other elements or features would be oriented "higher" relative to other elements or features. Thus, the exemplary term "lower" may encompass both above and below orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatially relative descriptors used herein interpreted accordingly.
此處使用的術語的目的僅用於描述特定實施例，而不意圖限制本發明。如本文所使用的，除非上下文另外明確指出，否則單數形式「一」、「一個」和「該」也旨在包括複數形式。將進一步被理解的是，當在本說明書中使用時，術語「包括」及/或「包含」指定所陳述的特徵、整體、步驟、操作、元件及/或組件的存在，但不排除存在或增加一個或多個其他特徵、整體、步驟、操作、元件、組件及/或其組合。 The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that when used in this specification, the terms "including" and / or "comprising" specify the presence of stated features, wholes, steps, operations, elements and / or components, but do not exclude the presence or Add one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.
這裡參照作為本發明的理想化實施例(和中間結構)的示意圖的橫截面圖來描述本發明的實施例。如此，由於諸如製造技術及/或公差等原因，可預期會出現圖示形狀的改變。因此，本發明的實施例不應該被解釋為限於此處顯示的區域的特定形狀，而是包括如製造導致的形狀偏差。 Embodiments of the present invention are described here with reference to cross-sectional views that are schematic views of idealized embodiments (and intermediate structures) of the present invention. As such, changes in the shapes of the illustrations may be expected due to reasons such as manufacturing techniques and / or tolerances. Therefore, the embodiments of the present invention should not be interpreted as being limited to the specific shape of the area shown here, but include shape deviations as a result of manufacturing.
除非另外定義，否則此處使用的所有術語(包括技術和科學術語)具有與本發明所屬領域的一般技術人員通常理解的相同含義。應該進一步被理解的是，諸如通常使用的字典中定義的那些術語應該被解釋為具有與其在相關 領域的上下文中的含義一致的含義，並且將不被理解為理想化或過度正式的意義，除非明確如此定義。 Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should be further understood that terms such as those commonly used in dictionary definitions should be interpreted to have meanings consistent with their meaning in the context of the relevant field, and will not be understood as idealized or overly formal, unless Clearly so defined.
在本說明書中對「一個實施例」、「實施例」、「示例實施例」等的任何引用意味著結合該實施例描述的特定特徵，結構或特性被包括在本發明的至少一個實施例中。說明書中各處出現的這樣的片語不一定都指相同的實施例。此外，當結合任何實施例描述特定的特徵、結構或特性時，被認為實現與其他特徵、結構或特性有關的特徵，結構或特性實施例在本領域技術人員的能力範圍內。 Any reference in this specification to "one embodiment", "an embodiment", "example embodiment", etc. means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention . The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is considered to achieve a feature, structure, or characteristic related to other feature, structure, or characteristic within the capabilities of those skilled in the art.
儘管已經參考多個說明性實施例描述了實施例，但是應該被理解的是，本領域技術人員可以設計出落入本發明原理的精神和範圍內的許多其他修改和實施例。更具體地，在本發明、附圖和申請專利範圍的範疇內，可以對組件及/或附件組合配置中的排列進行各種變化和修改。除了對組件及/或附件組合配置中的排列進行各種變化和修改，對於本領域技術人員而言，替換使用也將是顯而易見的。 Although the embodiments have been described with reference to a number of illustrative embodiments, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of the invention. More specifically, various changes and modifications can be made to the arrangement in the component and / or accessory combination configuration within the scope of the present invention, the drawings, and the scope of the patent application. In addition to various changes and modifications to the arrangement of the components and / or accessories of a combination arrangement, alternative uses will also be apparent to those skilled in the art.
《相關申請案的交互參照》 "Cross Reference to Related Applications"
本申請案主張於2017年1月18日向韓國知識產權局提交的韓國專利申請第10-2017-0008874號的優先權權益，其公開內容通過引用併入本文中。 This application claims the priority right of Korean Patent Application No. 10-2017-0008874, filed with the Korean Intellectual Property Office on January 18, 2017, the disclosure of which is incorporated herein by reference.
Claims (18)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ??10-2017-0008874 | 2017-01-18 | ||
| KR1020170008874A KR102235270B1 (en) | 2017-01-18 | 2017-01-18 | Moving Robot and controlling method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201832035A TW201832035A (en) | 2018-09-01 |
| TWI663495B true TWI663495B (en) | 2019-06-21 |
Family
ID=62838626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW107101901A TWI663495B (en) | 2017-01-18 | 2018-01-18 | Mobile robot system and control method thereof |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US10946520B2 (en) |
| KR (1) | KR102235270B1 (en) |
| TW (1) | TWI663495B (en) |
| WO (1) | WO2018135870A1 (en) |
Families Citing this family (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10496262B1 (en) * | 2015-09-30 | 2019-12-03 | AI Incorporated | Robotic floor-cleaning system manager |
| KR20180082264A (en) * | 2017-01-10 | 2018-07-18 | 엘지전자 주식회사 | Moving Robot and controlling method |
| CN106843230B (en) * | 2017-03-24 | 2019-11-19 | 上海思岚科技有限公司 | Virtual wall system and its implementation applied to mobile device |
| US11240854B2 (en) * | 2017-08-22 | 2022-02-01 | AI Incorporated | Methods and systems for pairing mobile robotic device docking stations with a wireless router and cloud service |
| JP2019204336A (en) * | 2018-05-24 | 2019-11-28 | 東芝ライフスタイル株式会社 | Autonomous traveling body |
| KR102292263B1 (en) | 2018-08-03 | 2021-08-24 | 엘지전자 주식회사 | Moving robot, system of moving robot and method for moving to charging station of moving robot |
| KR102242713B1 (en) | 2018-08-03 | 2021-04-22 | 엘지전자 주식회사 | Moving robot and contorlling method and a terminal |
| KR102242714B1 (en) | 2018-08-03 | 2021-04-22 | 엘지전자 주식회사 | Moving robot and contorlling method and a moving robot system |
| KR102266713B1 (en) | 2018-08-03 | 2021-06-21 | 엘지전자 주식회사 | Lawn mover robot, system of lawn mover robot and controlling method for system of lawn mover robot |
| KR102238352B1 (en) | 2018-08-05 | 2021-04-09 | 엘지전자 주식회사 | Station apparatus and moving robot system |
| US11960278B2 (en) | 2018-08-05 | 2024-04-16 | Lg Electronics Inc. | Moving robot and controlling method thereof |
| US10835096B2 (en) | 2018-08-30 | 2020-11-17 | Irobot Corporation | Map based training and interface for mobile robots |
| US11007644B2 (en) * | 2018-09-04 | 2021-05-18 | Irobot Corporation | Mapping interface for mobile robots |
| KR102544072B1 (en) * | 2018-09-04 | 2023-06-15 | 엘지전자 주식회사 | Robot cleaner and method for controlling the same |
| DE102018126216A1 (en) * | 2018-09-28 | 2020-04-02 | Still Gmbh | Process for securing a work area of a mobile logistics robot using adaptive protective fields |
| CN109571469B (en) * | 2018-11-29 | 2021-01-08 | 深圳市优必选科技有限公司 | Control circuit for robot obstacle avoidance, robot and robot obstacle avoidance method |
| CN109579826B (en) * | 2018-12-06 | 2020-12-15 | 珠海市一微半导体有限公司 | Direction display control method, device and chip of robot navigation map |
| CN111360808B (en) * | 2018-12-25 | 2021-12-17 | 深圳市优必选科技有限公司 | Method and device for controlling robot to move and robot |
| CN109528095B (en) * | 2018-12-28 | 2020-11-17 | 深圳市愚公科技有限公司 | Calibration method of sweeping record chart, sweeping robot and mobile terminal |
| KR102234641B1 (en) | 2019-01-17 | 2021-03-31 | 엘지전자 주식회사 | Moving robot and Controlling method for the same |
| US11353884B2 (en) * | 2019-01-28 | 2022-06-07 | Pixart Imaging Inc. | Robot without detection dead zone |
| CN109758044B (en) * | 2019-01-31 | 2021-04-02 | 莱克电气股份有限公司 | Cleaning robot regression method using charging seat coordinate record, storage medium, and electronic device |
| US11254003B1 (en) * | 2019-04-18 | 2022-02-22 | Intrinsic Innovation Llc | Enhanced robot path planning |
| CN110347152B (en) * | 2019-06-11 | 2022-08-16 | 深圳拓邦股份有限公司 | Virtual wall setting method, system and device |
| WO2020256175A1 (en) * | 2019-06-18 | 2020-12-24 | 엘지전자 주식회사 | Sound processing method used in speech recognition robot |
| CN110338708B (en) * | 2019-06-21 | 2021-04-09 | 华为技术有限公司 | Sweeping control method and device of sweeping robot |
| KR102294815B1 (en) * | 2019-07-04 | 2021-08-27 | 엘지전자 주식회사 | Cleaner and controlling method thereof |
| KR20190087355A (en) * | 2019-07-05 | 2019-07-24 | 엘지전자 주식회사 | Method for driving cleaning robot and cleaning robot which drives using regional human activity data |
| CN110385719B (en) * | 2019-07-23 | 2020-08-28 | 珠海市一微半导体有限公司 | Method and chip for judging whether virtual wall is collided by robot and intelligent robot |
| KR102317048B1 (en) * | 2019-08-23 | 2021-10-25 | 엘지전자 주식회사 | Robot Cleaner and Its Control Method Thereof |
| KR20190105214A (en) * | 2019-08-23 | 2019-09-16 | 엘지전자 주식회사 | Robot cleaner for escaping constrained situation through artificial intelligence and operating method thereof |
| CN111338384B (en) * | 2019-12-17 | 2021-06-08 | 北京化工大学 | Self-adaptive path tracking method of snake-like robot |
| CN111552286B (en) * | 2020-04-22 | 2024-05-07 | 深圳市优必选科技股份有限公司 | Robot and movement control method and device thereof |
| CN111815739B (en) * | 2020-07-02 | 2023-09-01 | 科沃斯机器人股份有限公司 | Travel method, self-mobile device and computer readable storage medium |
| JP2022025721A (en) * | 2020-07-29 | 2022-02-10 | パナソニックＩｐマネジメント株式会社 | Cleaner system and cleaner |
| CA3224602A1 (en) * | 2021-04-01 | 2022-10-06 | Sanctuary Cognitive Systems Corporation | System for presenting robotic data flows for application development |
| CN115202330A (en) * | 2021-04-09 | 2022-10-18 | 美智纵横科技有限责任公司 | Control method for cleaning robot to move along obstacle and cleaning robot |
| CN113397436A (en) * | 2021-07-12 | 2021-09-17 | 珠海格力电器股份有限公司 | Sweeping method and module of sweeping robot, sweeping robot and storage medium |
| KR20230011698A (en) | 2021-07-14 | 2023-01-25 | 엘지전자 주식회사 | Moving Robot |
| CN113741472B (en) * | 2021-09-10 | 2024-03-08 | 上海伯镭智能科技有限公司 | Obstacle avoidance method and device based on multi-image acquisition |
| KR20230041353A (en) * | 2021-09-17 | 2023-03-24 | 네이버랩스 주식회사 | Robot-friendly building, method and system for controling robot divinging in the building |
| US20230280180A1 (en) * | 2022-03-01 | 2023-09-07 | Argo AI, LLC | Systems and methods for performing data collection missions |
| CN116859937A (en) * | 2023-07-28 | 2023-10-10 | 北京小米机器人技术有限公司 | Robot control method, control device, electronic device, and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200800684A (en) * | 2006-05-17 | 2008-01-01 | Murata Machinery Ltd | Travel device for self-propelled device |
| TW201006635A (en) * | 2008-08-07 | 2010-02-16 | Univ Yuan Ze | In situ robot which can be controlled remotely |
| JP2012022467A (en) * | 2010-07-13 | 2012-02-02 | Murata Mach Ltd | Autonomous mobile body |
| TW201627790A (en) * | 2015-01-23 | 2016-08-01 | cheng-xiang Yan | System and method for constraining robot movement behavior |
| TWM527299U (en) * | 2016-03-15 | 2016-08-21 | Lumiplus Technology Suzhou Co Ltd | Collision prevention, collision buffering and wall following system for self-propelled device |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090077547A (en) | 2008-01-11 | 2009-07-15 | 삼성전자주식회사 | Method and apparatus of path planning for a mobile robot |
| KR101297255B1 (en) * | 2011-09-07 | 2013-08-19 | 엘지전자 주식회사 | Mobile robot, and system and method for remotely controlling the same |
| US9480379B2 (en) | 2011-10-21 | 2016-11-01 | Samsung Electronics Co., Ltd. | Robot cleaner and control method for the same |
| KR101970586B1 (en) | 2011-10-21 | 2019-04-22 | 삼성전자주식회사 | Robot cleaner and controlling method thereof |
| CA2871502C (en) * | 2012-04-26 | 2021-06-08 | Neptec Design Group Ltd. | High speed 360 degree scanning lidar head |
| KR20140087486A (en) | 2012-12-31 | 2014-07-09 | 노틸러스효성 주식회사 | Method for generating work path of mobile robot using virtual wall layer |
| KR102094347B1 (en) * | 2013-07-29 | 2020-03-30 | 삼성전자주식회사 | Auto-cleaning system, cleaning robot and controlling method thereof |
| KR102412747B1 (en) * | 2014-02-28 | 2022-06-27 | 삼성전자주식회사 | Cleaning robot and remote controller therein |
| KR102306709B1 (en) * | 2014-08-19 | 2021-09-29 | 삼성전자주식회사 | Robot cleaner, control apparatus, control system, and control method of robot cleaner |
| KR20160098700A (en) * | 2015-02-11 | 2016-08-19 | 삼성전자주식회사 | Apparatus for processing multi-touch input and method thereof |
| KR20170077756A (en) * | 2015-12-28 | 2017-07-06 | 삼성전자주식회사 | Cleaning robot and controlling method thereof |
| MY195922A (en) * | 2016-09-14 | 2023-02-27 | Irobot Corp | Systems and Methods for Configurable Operation of a Robot Based on Area Classification |
| US20190246852A1 (en) * | 2016-09-20 | 2019-08-15 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling movement of the robotic cleaning device |
| KR102070068B1 (en) * | 2017-11-30 | 2020-03-23 | 엘지전자 주식회사 | Moving Robot and controlling method |
-
2017
- 2017-01-18 KR KR1020170008874A patent/KR102235270B1/en active IP Right Grant
-
2018
- 2018-01-18 TW TW107101901A patent/TWI663495B/en active
- 2018-01-18 US US15/874,448 patent/US10946520B2/en active Active
- 2018-01-18 WO PCT/KR2018/000829 patent/WO2018135870A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200800684A (en) * | 2006-05-17 | 2008-01-01 | Murata Machinery Ltd | Travel device for self-propelled device |
| TW201006635A (en) * | 2008-08-07 | 2010-02-16 | Univ Yuan Ze | In situ robot which can be controlled remotely |
| JP2012022467A (en) * | 2010-07-13 | 2012-02-02 | Murata Mach Ltd | Autonomous mobile body |
| TW201627790A (en) * | 2015-01-23 | 2016-08-01 | cheng-xiang Yan | System and method for constraining robot movement behavior |
| TWM527299U (en) * | 2016-03-15 | 2016-08-21 | Lumiplus Technology Suzhou Co Ltd | Collision prevention, collision buffering and wall following system for self-propelled device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018135870A1 (en) | 2018-07-26 |
| KR20180085309A (en) | 2018-07-26 |
| US10946520B2 (en) | 2021-03-16 |
| KR102235270B1 (en) | 2021-04-01 |
| US20180200888A1 (en) | 2018-07-19 |
| TW201832035A (en) | 2018-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI663495B (en) | Mobile robot system and control method thereof | |
| US10695906B2 (en) | Moving robot and controlling method | |
| US10967512B2 (en) | Moving robot and controlling method | |
| TWI687784B (en) | Moving robot and control method thereof | |
| US11737635B2 (en) | Moving robot and control method thereof | |
| US11751744B2 (en) | Moving robot and controlling method | |
| KR102235271B1 (en) | Moving Robot and controlling method | |
| KR20190103511A (en) | Moving Robot and controlling method | |
| KR102669126B1 (en) | Moving Robot and controlling method for thereof | |
| KR20230011698A (en) | Moving Robot |